Fanuc 100ib axis issues

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Hi,

When you calibrate the robot, do you use the pulse count that was given when you received the robot from Fanuc?

I have just been following the instructions on the quick calibration from DIY Robotics, since that's all the documentation I am aware of.

Hi,

When you go in MENU - NEXT - SYSTEM - Variables

Go in $DMR_GRP and press 2 times DETAIL(F2)

You should get this window

Go in $REF_COUNT and press DETAIL (F2)

You should have values that look like this:

The variables I have are as follows:

-15014248

2693952

-895576

229904

458732

502582

0

0

0

Try creating a point in joint coordinate and change all the values of the joint to 0. Go at this point and validate if the robot is at his zero marks on each joint.

The arm has that program already, every time I calibrate it J3 and J5 move ever so slightly out of place. I have the values it claims the joints are at when I finish calibrating it with the marks at 0.

J3: 0.161

J5: 3.925

However, that's just for one of the calibrations. J3 and J5 move a random amount each time I calibrate it at the zero marks, and not always in the same direction.

I would like to post a video of it moving, which site should I upload to?

EDIT: I put it on Vimeo, here is a link

https://vimeo.com/797353439

I have no idea why it's moving like this

Hi,

It seems that the robot is not moving with the tool at the end of the welding torch. Do you have the correct tool activated?

MENU - SETUP - Frames

F3 for OTHER ans the select Tool Frame

Yes, and I have tried teaching the tool frame again, there was no noticeable difference

Can you send us the Backup (ALL of Above) of the robot please? We will check in Roboguide the config of the robot.

Sure, how do I do that? My experience with the arms is more "place/adjust point in program" than actual maintenance

Hi,

You can follow this tutorial to do a backup:

https://diy-robotics.com/tutorials/fanuc-file-management-backup-on-usb-key/

Unfortunately it looks like the teach pendant is too old or just doesn't have a USB port. There is a data port on the controller, but it's not USB and I'm looking for the card that goes into it.

I have the files, how do I send them to you?

Hi Caedis,

Have you tried to do a Zero Position Master?

Move the robot on it's Zero mark on each axis and try the mastering.

DIY-Robotics products
https://diy-robotics.com/products/

I have, it helped the problem with J3 and J5

Hi,

Can you try to press enter 1 time on Toggle Wrist Jog?

It's under the FCTN menu

I have looked for this option, it appears I only have the first two menus and not the one with that option.

can you send me a picture of what you see when you press FCTN?

Sent the pictures to your email

Hi,

At this point I will make you try the Robot Accuracy Enhancement Techniques: