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Answered Axes Change

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Ezequielo Murillo

Hola!

I am currently working on R-2000iB, and here's my situation:

When I start jogging the robot using Z keys it moves in horizontal position and in Y direction it moves in vertical. Two of its axes Y & Z have been changed in to world coordinates. Even after creating a UFrame Problem returns when I go back to the world frame. I am kind of stuck here.

Any anyone Help me solve this issue?

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    Sarwat Anjum
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    Dear Ezequielo Murillo

    You should check these folowing variables:

    • $PARAM_GROUP[1].$MOUNT_ANGLE is 0.000
    •  $SCR_GRP[1].$ARM_TYPE is 0.

    Or just go for Controlled start mode and check robot setup there should be set as mount angle = 0

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