I have a Fanuc M-10iA/7L used for Circular Tracking Painting, Automatic robot movement deviation has been reported by engineer from taught trajectory: Robot moves differently in automatic mode compared with the same trajectory in teach mode. We took a test in the roboguide cell built by on site all files backup.
and it's interesting that the nominal tracking frame changed after an automatic run.
left picture show the location of nominal tracking frame and trajectory when the $enc_count is "1"；
after a cycle start of PNS0115 using $ENC_SIM_ON, the trajectory and tracking frame rotated around the origin.
and the right picture show the location of the nominal tracking frame is far away from the previous location.
Anybody happen to know
1、the case of Automatic robot movement deviation has been reported by engineer from taught trajectory: Robot moves differently in automatic mode compared with the same trajectory in teach mode.
2、the difference of tracking frames shown in the two pictures.
many thanks.
