Linear Motion Issue

JacobKang

I set a wobj coordinate at the center of the external positioner. Then I used linear mode to move the robot at this wobj. However, I have a motion issue in the x-axis direction of the wobj. There is a different path between the +x-direction and -x-direction. The z-direction of TCP moves -0.4mm in the +x-direction compared with the -x-direction. Besides, the pendant can't see this movement. How can I compensate for this issue? Help me.....

I recorded a video given below link:
https://youtu.be/TTxkR8kI95A

The robot's model is IRB 6700 200/2.6

DenisFR

Hello,

Can you share your code so we can investigate on it?

Only needs the movement part with all variables values.

Do you have absolute accuracy option?

lemster68

Are your calibration offsets correct?  Is the robot level?  And the Table?  How did you set this workobject?  By teaching?  Is your TCP super perfect?