I have a program where the robot need to pick up parts on a tray. There is one reference point and the others are done by an offset PR[] added to the point in the X and Y direction.
The problem is when I offset in the Y direction of the frame, the robot is not following the Frame Y direction. It have an error.
How can I offset the point so the robot follow the frame?
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Hi John68,
What is the error code you receive from the robot?
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I don't have an error code. The problem is that the robot is not following the Y direction when I move in User mode. There is a drift in X position when I move in Y direction:
Hi John68,
This drift may occur when the mastering of the robot is not properly done. To validate it, you need to check if the robot return to the same position when you change the config of the point. Simply do this procedure:
1. Create a program named J5
2. Make sure that the robot is in Frame 0 and a User Tool that have all 0 for this procedure
3. Put a point (teach pin) on the robot and a point on a table in front f the robot
4. Teach one point P[1] so the two points are touching precisely. Make sure that J1 is between 10 and 180 degrees.
5. Create another point at the same position P[2]
6. On P[2], press F[5] for POSITION and change the config from NUT to FUT or from FUT to NUT depending on the actual config
7. Go to P[2] and the robot should touch point to point like P[1]. If not , you will have to adjust the mastering for J5.
8. Create a program named J23
9. Go to the same position that you recorded as P[1] in the J5 program and record it.
10. Create another point at the same position P[2]
11. On P[2], press F[5] for POSITION and change the config from NUT to NDB
12. Go to P[2] and the robot should touch point to point like P[1]. If not , you will have to adjust the mastering for J2 and J3.
13. The robot should go to this position with the J3 completely flip over
Hi Mathieu,
Thanks for the procedure. I did it and it seems that the program J23 is the problem. I'm not having the same position between P[1] and P[2].
How can I solve this problem?
Hi John68,
Here's the procedure to adjust the mastering for J2 and J3.
1. In your program J23, go to P[2] so the robot is flipped over on J3.
2. Move the robot in Joint mode only moving J2 and J3 so the TCP is as close as possible to the pointer and create a new point named P[3].
3. Go in the Position of P[2] and P[3] and change the representation to JOINT
4. Find the average value that needs to be for J2 and J3 by applying these formulas:
J2 = (P[2].J2 + P[3].J2) / 2
J3 = ( P[2].J3 + P[3].J3) / 2
5. Let the robot at this position
6. Now you need to change the mastering of the robot. First, you need to activate the Master/Cal menu. Go to MENU - NEXT - SYSTEM - Variables
7. In Variables, find $MASTER_ENB and put a 1
8. Go to MENU - NEXT - SYSTEM - Master/Cal
9. Go to SINGLE AXIS MASTER
10. In the MSTR POS column enter the calculated value for J2 and J3 and place a 1 for those two joint in the SEL column
11. Press F5 for EXEC and PREV to return in the Master/Cal menu
12. Go to CALIBRATE, press ENTER and YES to calibrate the robot
Now the problem should solved. To be sure, run the J23 program and verify that the TCP touches the pointer in both configurations. You may have to do this procedure an other time to make the robot more accurate.
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