Posts by jagroop77

  • Master count and Ref count

    Dear RoBoWi,


    But for Quick mastering we need to save quick ref points before mastering loss.
    Unfortunately we did not saved Quick Ref.
    So,No chance of quick mastering.


    Any other way to do it.
    We have a MIG torch of Binzel with 22 degree Bend angle.

  • Master count and Ref count

    I am worried for this robot because we have another robot Arc mate 120ic/10l with R30iA and his TCP is with in 1-2 mm.


    I am not able to decide whether the mastering is bad.
    Shall I have to do the fixture mastering because Zero mastering is not improving the result.
    even Fanuc guys does not have fixtures for mastering.

  • Master count and Ref count

    Dear Friend,
    when BZAL alarm occured then I did Zero mastering.
    But how to know that mastering is bad or good.
    Is our shift in TCP is the proof for bad mastering.


    Shift in TCP means when we jog the robot around Y axis and X axis then there is a shift of 4-5 mm.Not in the program taught points.


    Regards


    Jagroop

  • Master count and Ref count

    Dear Friends.
    We had a Arc mate 120ic/10L with R30iA controller.
    It's TCP is not perfect.when we bring the torch to the Fixed pointer after calculation the tool frame, and when we rotate it, there is a shift of 4-5 mm.
    So, I am doubting on the mastering,as six month ago there was SRVO 62 alarm and we had re mastered the robot and error has gone.



    Now< I have checked the master count in system variable and ref_count also.
    Both are different.
    As per theory and my understanding it should be same when the robot is a Zero position mastering position.
    can any body help us in figuring out that Mastering is OK or Not.


    Regards


    Rupy

  • EXT BAS

    Hi,
    can some body help me in explaining the what is the "EXT BAS" in Declaration section of the following program example. :wallbash:




    ;------- Declaration section -------
    EXT BAS (BAS_COMMAND :IN,REAL :IN )
    DECL AXIS HOME ;Variable HOME of type AXIS
    DECL FRAME BASE1 ;Variable BASE1 of type FRAME
    ;----------- Initialization ----------
    BAS (#INITMOV,0 ) ;Initialization of velocities,
    ;accelerations, $BASE, $TOOL, etc.
    HOME={AXIS: A1 0,A2 -90,A3 90,A4 0,A5 0,A6 0}
    BASE1={FRAME: X 300,Y -100,Z 0,A 90,B 0,C 0}
    ;----------- Main section ----------
    PTP HOME ;BCO run
    ; Motion relative to the $BASE coordinate system
    PTP {POS: X 540,Y 630,Z 1500,A 0,B 90,C 0,S 2,T 35}
    ; Motion relative to the $BASE-CS offset by BASE1
    PTP BASE1:{POS: X 540,Y 630,Z 1500,A 0,B 90,C 0,S 2,T 35}
    PTP HOME
    END

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