Posts by slapshot
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Ok, the last week I've had limited time to investigate the issue. Today I've discovered axis 4, 5 and 6 do not move at all when jogging in world, user, tool or jog frames. They move if I reorient around x, y or z.
Everything runs fine running programs in auto. Checked the software, appears correct.
Sent from my SCH-I545 using Tapatalk
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I do. It doesn't have provisions for the current setup. I may backup what's in it now, use my older backup and see what happens to the tool orientation. Maybe that'll shed some light on this.
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I had a similar issue on a refurbed Arcmate 120ib my company bought. When I would jog linear X or Y the wrist would spin.The problem ended up being...
The company we purchased the robot from had loaded the wrong version of system software (Arcmate 120ib-10 / not Arcmate 120ib-20). The -10 set the gearing wrong for the 6th axis, they sent us a new image and it fixed the issue.
Food for thought...
That actually makes me wonder. Fanuc has been in here a bit updating software. I was away from this site for over a month and this problem started upon my return. It's possible they may have reloaded something while I was away. Wouldn't be the first time they've thrown a wrench into my process.
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I apologize, I think I'm making this more complicated than should be.
My reasoning for the six point method are tool orientation. I was told by everyone I've spoken to at Fanuc that the three point will not work for what our desired result is.
I have a very large dispense meter attached to the wrist. The tip has a 1/8"x 3/4" opening. I need the tip to stay parallel to the parts which are square to the world zone. If it twists in any way the application of material will not be uniform and to our specs. Had no problem doing this before. Sorry, I'm feeling like a moron over this. For some reason, I'm just not achieving what I did before.
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Limited success, this makes me wonder if I'm doing something wrong.
Taught the 6 point tool frame, now jogging in tool will move the tip of the applicator in a linear fashion square to the world frame xyz. The tip will follow linear motion, however the tool twists and turns all over the place.
Jogging in tool frame 2 (all 0's) produces linear movement of the tool face plate. The only thing that seems to be lacking is the orientation of the tool. I want it to stay parallel to the world frame in jogging as it did before, but as of now it will not.
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I'm curious if the mastering is off, how were we able to have proper linear motion before the tool change and all of the programs before the tool change run the same as they always did? Maybe when they changed the tool this time they were a little rough with the arm causing the mastering to be off? If that's the case wouldn't the programs made before the change be affected?
It's like the robot will orient the tip properly yet the tool wanders all over the place. There is some arc when moving in world, tool or user frames, but it appears the robot knows where the tip of the tool is just won't orient it as it did before. I've ran the six point tool frame setup multiple times now with the same result. x-456 y-98.8 z730.8 w179.9 p-45.2 r.8
I get almost those exact numbers every time I run it. -
Not at all. Everything seems fine with the exception of arcing linear movements regardless of jog frame. User, tool, world..
The tool used to stay parallel to the user frame during world jogging of xyz. Now it rotates throughout and climbs vertically from one end of the user frame to the other with x and y motion.
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I'm relatively new to Fanuc with a bit of experience with ABB robots. I have a M-710ic that is very new. We're running an R&D project and have changed the dispense tool on the robot. This is the second time we've done this in a few months. The first time I was able to change the tool frame without issue. I changed the tool frame again using the 6 point method and now cannot achieve any kind of linear motion in jogging. It will jog around the tool center point, just not in a linear motion. The part that confuses me, is the robot will run existing programs perfectly. I need to write new programs and would prefer to have the capability to jog in linear movements for this. In checking the individual axis, it appears that J3 is off by 30 mm or so. I did not master this robot, it was handed off to me once it was initially set up. I don't know if this axis has been this way from day one or not. Any input would be greatly appreciated.
Thanks