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

4th axis of my robot is not returning to its joint

Avatar
Juan Turner

Hello experts,

I am having FANUC M710iC/50 robot having R30B controller. It happens that when I teach the joint a position through another robot, then robot is moving to all of its 6 axis from the same position, but when instructed to return to certain respective position. However, when the robot is taught a joint position then being moved to the 4th axis but when instructed to go back to original position then 4th axis is staying while 6th axis is rotated.

However, the end effector is in same position as taught initially but the 4th and 6th axis are not on their positions. I consider it a problem because whenever I am returning the robot to its taught position then normally its axis is returned to position as taught but is preventing its cables from wounding. 

Does any of you has an idea about this problem?

Didn't find what you were looking for?

New post

Comments

4 comments

Sort by Date Votes
  • Avatar
    Muhammad Ishaq
    Comment actions Permalink

    Hi Mr. Turner,

    Are you planning to move the robot through a program or through hitting "move to" with teach pendant.

    In both of mentioned cases it is to be moved in a linear motion but not the joint and the end resultant tool central point position is exactly the same even though the arm representation is not.

    You might be jogging in joint, but your moving in linear.

    0
  • Avatar
    Juan Turner
    Comment actions Permalink

    Hello Ishaq,

    Thank you so much for your response. I have taught the point in condition of "Joint Point" but not in the form of a "Linear Point"

    This is why I am confused in the 4th axis as it do not return to the taught position.

    Hope you have a solution.

    Thank You

    0
  • Avatar
    Frankie Ellis
    Comment actions Permalink

    Hi all,

    You have to teach the point in form of degrees putting the cursor on the position ID and then press Position, Joint.

    This is why it becomes same point always. It is possible that your joint point is in the Cartesian plane and is its configurations are not changed accordingly.

    0
  • Avatar
    Howard Coleman
    Comment actions Permalink

    Dear Juan,

    Frankie is correct. Such a status would only happens with the robots in cases close to singularity. I am very happy that you have noticed this as if you have not then it may have run for years, however, if some is touching it even for half a degree, there is possibility that its points would rip off.

    This scenario can be fixed through Frankie's procedure. Is there any way that you don't line up 4 and 6 so well?

    The tip is that it doesn't look very nice, but sometimes a add another point, just to "help the robot", indicating which way to rotate. Even a small motion will give the robot a clue which path to take.

    0

Please sign in to leave a comment.