Is there a link or something you can share with me about how to correctly master? I'm sure there are a few ways based on personal preference, but I'm willing to try all the ways if it will solve this problem!
Posts by Tyra
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Myself and 2 other engineers have each triple checked the mastering on these. That doesn't appear to be the issue...
Could it be that the gripper was installed at the wrong orientation? Between the hand and the J6 on the robot there is a wedge block that is set at a different position on all of the robots, but I don't see that having this affect. especially when the robots that work normally are all different as well.
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The other robots have the same gripper, but on those, the gripper stays vertical while making +/- X movements.
I haven't been able to find anything different between the ones that roll and the ones that don't.. But I'm still relatively new to the programming side of robots so I'm sure I must be missing SOMETHING! lol
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Attached is the video of the robot moving in JGFRM coordinate, just moving +/- X. The gripper starts with the opening facing up. As it moves along X to the right, the gripper opening begins to face right. As it moves along X to the left, the gripper opening rolls back to vertical and begins to face left. It's almost as if the hand rotation that should keep the gripper at vertical is backwards.
I checked a few of the other robots that have NOT had this problem and all of the tool frames look exactly the same as this one.
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I am not near a singularity. That was the first thing I checked. I'll go out and see if I can get photos/video.
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How do I find that?
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Active frames are Tool (.=10) 1, Jog 1, User 0
its jog frame in setup frames that is 0,0,0.
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We have had multiple m-20ia robots with this issue. While in JGFRM or USER coordinate system and moving in the linear X, Y, or Z directions the wrist (J6) twists or rolls. This makes teaching linear moves extremely difficult.
One robot started this after getting a new wiring harness. Remastering fixed this one. Another started acting up after replacing the J6 harmonic drive. Remastering worked here as well. A week later this same robot needed a new J6 motor and another new harmonic drive. It started doing the "roll" again. Remastering did not work this time. The 3rd robot started this with no prompting. Again remastering did not fix the issue.
I have checked the frames on all 3 robots and all are still at 0,0,0. The core programs also appear to be correct on all 3 (I have compared the data from these robots to a couple others without the problem in the plant).
This is driving me nuts! Please help!