There were another global variable for gravity compensation, $GRAVC_GRP[1].$GRV_STATUS, that had been changed from 5 to 0.
So my TCP is back to normal but now I can no longer jog as I keep getting Collision detect alarm SRVO-050. But in AUTO, everything is fine.
Hello,
I was erring into the pendant and I ended in the Cold start, MAINTENANCE - Group 1 - MANUAL and had to go through the iniatial setup of the robot. I made sure not to change anything and just to stick to the defaut values.
Now as I have figured out, going through this steps reset some libraries such as the gravity compensation (the integrator made a user alarm for this). I then restored the gravity compensation to Off and went on with my cores. The following day I was told that the TCP was off by 6mm with its reference point.
I checked the tool value, mastering and reference program point position and everything is correct. It doesn't seem like the error affects one particular joint so I don't think a collision is involved. Unfortunately, there are no reference marks for J5 and J6 as they were changed before.
My question is what can have been changed in the libarries that could have such an impact on the robot precision.
The machine is an Arcmate 120 ic12L R30 ib
At the moment, I have exported all the variables and I am comparing them to see what has changed from the old backup.
I don't feel like using an image restore as the image at hand is an old one.
Could it be due to the natural curvature of the welding wire compared to a nominal TCP?
Try to go to NVidia Control Panel, then 3D-settings and the Program settings tab and set Roboguide (Weldpro or whatever) to use the NVidia GPU. I had to do this on my Quadro, because Roboguide was using the standard, integrated Intel GPU, which caused it to be laggy as hell...You might also want to check the settings - in Roboguide, go to Tools -> Options and check the Teach-Time Refresh Rate slider position.
Wow, it was driving me crazy. Thanks a lot. At first I couldn't see the slider which by defaut is set to 1. 
On R30-iB, I do have a Mech Unit time. I guess it is the time the robot has really been moving.
For info I have in hours:
On Power Time: 2716.5
Servo Time : 793.4
Running Time : 831.9
Waiting Time : 3.8
Mech Unit time : 199.3
Hi,I use exactly the same method to calibrate TCP, 4-point + make the tool rotate 180º arond the Z axis of the tool + 90º arond B o C.
It woks quite well, but nothing comparable with a laser track measure.bye
What is B o C please ?
The link is dead
You are very right it all depends on several factors.
Just to let you know, we finally decided to go with the Fanuc OLP, RoboGuide / WeldPro and so far, so good.
Thanks for your in-depth response
Indeed the direction of the axis was wrong. A Fanuc representative pointed this out to me.
Thanks a lot guys !
Here is the actual location of the Utool (green triad) but you can read X,Y,Z=0,0,0
Hi all, this is my first real post here,
I have build a virtual cell in RoboGuide. It has 2 external axis J7 and J8.
I have import the standard welding torch that are already configured. The problem is that the tool flange is way apart from the actual tool flange (tool 0).
Initialy, it seems to be alright but when you actualy start edit the Utool location, it shows where it really is (green triad).
I learned that it is from the external axis.
Any ideas?
Do you mean that we shouldn't take for granted the factory mastering?
Yes, CAM is only for machining. It doesn't apply to you.
Are there some home made OLP's than are really shining?
Is a must to go universal even if you deal with one brand of robot and that you want vision?
Because what I see in the posts are people that advertise their products but I would like an unbiased opinion
Still no consensus?
Price for Octopuz: 20 000 CAD and arround 3000 cad for maintenance
Hello, this is a very general question.
I am in the process of purchassing a robot for MIG welding and I am building a table with the pros and cons of each brands.
I am focussing on the main brands that are Kuka, ABB, Fanuc, Motoman and OTC Daihen since we already have one.
I am looking at criterias such as technological advancement, available options, off-line programming, compatibility, Support (in Canada), price, reliability, etc
Thanks in advance
