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I have a relative job in a Motoman robot that works for a few layers, then faults, as the R axis has decided to move in the other direction, causing the T axis to rotate as well in the wrong direction hitting a software travel limit. I can "unwind" the arm to reach the desired position, and have taught some intermediate positions to try and get around this (this worked to some extent), but am still having the issue. Is there anyway to "force" the robot to maintain it arm orientation? If it has to flip an axis around, should it not know better to flip it back, rather than going into overtravel? Any other suggestions? |
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There is a parameter that affects the path in relative job mode. XRC S2C-260 NX100 S2C-332 0 = Last step concerned Try setting to 2. |
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What is the reason for programming in relative job? Answering a question with a question! I like relative job. It is easy to take a taught job and move it around in space. I am open to better options!
(Jan 11 '10 at 19:54)
Jeremy Sluyters ♦♦
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I remember having similar problem few years ago with application using UP50 robot and XRC controller. What I had to do is to change position data coordinates from angles to pulses. Unfortunately I can’t remember details how I did it, was it through data declaration on top of routine or somehow else I can’t remember, but I know it worked. However I am not sure if same can be done in your application regarding that you are using relative job but you might want to try. There is also another way by monitoring target position through robot program and then before you send robot to that position simply calculate if it is possible for robot to do it or otherwise you demand robot to move other way through intermediate positions. |
