Posts by Lemster68

Since you have PC interface, with robotstudio installed on the line PC it could get backups scheduled automatically.

Open your IO tab, assuming IRC5 here because you did not say, view safety signals. Looks like this:

The MOC is part of your system parameters. You should read up on it in the system parameter manual. You can find that in robotstudio using the help button found on the file tab.

When you jog the axis does it move smoothly and quietly? Any grinding noise or jerkiness? Other than that, if there are any loads mounted on the arm they should be defined as armloads in the moc.cfg. Any loads such as the end effector and payload, if any, should be properly identified.

If you have the multitasking option you add the task to your sys.cfg.

The values that were being used could be in another module that the one that you opened up. Did you open the module found in the HOME directory or in the Rapid directory

Neither axis six nor five have to be at or near zero. The combined angles of axis three and five need to be such that the faceplate, tool0 should be perpendicular to the floor. Axis four does need to be at zero. Should you select unknown mass, axis three will move during the process of identifying the load, otherwise it will not move. I suggest adding a TPReadFK in your program in which the operator will have to make that selection for size before it runs.

The brake circuit. Read what the controller is telling you to check and check it.

Find the short in the circuit.

Read up on SearchL. That will store the found position into a robtarget. You may then examine the values in that position.

You would need to view the array, highlight that position, then you can modify the position. Alternatively, you could just have a teach routine with only one move in it if you want. You could really quickly edit the array pointer to 4,5 and the modify.

Fo and fi are just digital inputs and outputs. The controls engineer wanted those names because they are "fieldbus" IO. It was mostly just the teach tray that I wanted you to see, calculating the positions into the array. Also, when using the array it can make for some tidy code in a for next for pick and place.

In the program example I encouraged you to look at I calculated the positions into the robtarget array. If there were issues like you are having, I could have built in a "fudge factor" into the calculations. Not only that, but also, one could actually touch up any one of the positions in the array, if necessary.

Quote from Elderwild

I taught it with a pointed rod about the size of a pencil and a 1/4" rod stuck in my router. I'm not saying its perfect, but it looked pretty good.

So your min, mean and max errors were not large?

The motor may have been changed, but on that model it is common to just change the whole wrist, axes five and six would show different. But changing the cal offsets would also wreck all your programs. Going back to your first post, you said your TCP looked ok. If your offsets were wrong, you most likely would fail to get a good tcp every time. Did you teach it or load data from cad?

If you update the rev counter to make it go to zero properly, then all your programs are off. Bets to let it be. Calibration will not change over time. Programs could change due to wear and greater gear play/backlash. Motion supervision would not be a factor.

1. Yes

2. Don't change it, it will throw off everything. But that will affect what you are trying to do.

3. Lookin the system parameters in the pendant for motion. I looked in an moc file from a backup and did not see baseframe.

Years ago, on one of my first jobs, I was trying to use program displacement. It worked on one robot, but not another. The baseframe on the non working one had been changed.

Read this: Picking part 2, from a tray of parts.

Using the six point is probably not helpful. Any inaccuracy in the workobject could be your issue. Check your calibration offsets and robot zero position. Then check the baseframe in your system parameters. If it is not 0,0,0 1,0,0,0 then that will throw you off.

Are you using Offsets or program displacement? You mentioned both.

Are you restarting the program from the top of main? Why not resume program from where it was?