1. DIY-Robotics (Help Center)
  2. Community
  3. Troubleshooting — FANUC

Answered Non-linear issue

Avatar
Juan Turner

Dear all,

I am not new to the FANUC robotics but i am having some troubles. I am having my M710iC robot which is a new model and i am having a Research and Development project to look after, therefore i have to know this tool to the best possible extent. I am having some non-linear issue with my robot. I happened to me twice.

The first time, when i tried to change its tool frame, i got no issues. I then changed the tool frame again and again through the use of a 6 point technique and now I am not able to achieve any sort of linear motion in its jogging. It is jogging in along a central point but is not jogging in a linear motion. This is confusing me a lot as the programs of robot are perfect and has no mistakes.

I am interested in having a program which prefer to have the capability to jog in linear movements for this. While, checking the individual axis, it is appearing that if J3 is OFF by 30mm i think. I have not mastered this robot yet and this robot was handed over to me when set up initially. I don't know if this axis has been this way from day one or not.

Any input and suggestions from you will be greatly appreciated.

Didn't find what you were looking for?

New post

Comments

4 comments

Sort by Date Votes
  • Avatar
    Chang Thriving
    Comment actions Permalink

    Dear Juan,

    Do you have any fault associated with this problem?

    0
  • Avatar
    Juan Turner
    Comment actions Permalink

    Dear Chang,

    No, Not at all. All seems good but with an exception of arcing the linear movements regardless of the frames of jog and user tool.

    The tool which is used for staying parallel across the user frame during the world of jogging of XYZ. Now, it is rotating all across and is climbing vertically from one of the end to another through user frame in X and Y motion.

    0
  • Avatar
    Chang Thriving
    Comment actions Permalink

    Dear Juan,

    If the robot is moving in an arc position then mastering is OFF and you are required to correct the problem at first chance. You are required to set the tool frame to ZERO point and then select the tool frame which is zero and verify it from the coordinates. Usually it is hard to get a TCP taught but make sure that when you are getting your taught, you do the  following to the model.

    Remember that this if for a 3 point and getting TCP which is good in performance. When you select the tool frames then you are taught to jog it about its Z axis for checking its accuracy.

    Now, moving the cursor to Approach point 1. Jog the robot to this point so as tot tool tip is touching the reference point. Now pressing the SHIFT key and then pressing F5 you will start recording. Move your cursor to point number 2 now. Rotating the axis 6 in the JOINT coordinate system, at least 90 but make sure it must not be more, about the z axis of the tool coordinates. Now jog the robot in the WORLD coordinate system, so that the tool tip touches the reference point used in Step 14 . Press and hold the SHIFT key and press F5, RECORD. Move the cursor to Approach point 3. Rotate axis 4 and axis 5, in the JOINT coordinate system, (no more than 90) about either the x or y axis of the tool coordinates. Jog the robot, in the WORLD coordinate system, so that the tool tip touches the reference point used in Step 14 . Press and hold the SHIFT key and press F5, RECORD.

    Try it. It is going to work for sure.

    0
  • Avatar
    Frankie Ellis
    Comment actions Permalink

    Dear Turner,

    I recently setup a brand new M20 for a customer and someone had boned the mastering on J1.

    You should do same on your problem. It is going to be fine.

    0

Please sign in to leave a comment.