Robot not reorienting around tcp, works in robotstudio but not on real robot.

SBENO

Hello, so I have a problem.

Have been trying to figure this on my own but now i think it s time to ask for help.

So I´ve created a tool in solidworks and made a .STEP file to get it into Robotstudio.
Everything has been working fine, up until I downloaded it into the real controller for verification.
Then i noticed that the robot is not rotating correctly around the TCP.
Video:https://imgur.com/a/KaEbRiv

Do you have any ideas? 

I´ve verified that the tool is mounted correctly on the robot, that the revolution counters are updated and also that the X,Y,Z coordinates are correct.
Updated to RW 6.15.06.00.
The robot has been in our development site since 2017 with no service that i know of(If this is information that could be helpful)

Thanks in advance!

Best regards, ENO

lemster68

There should be a sticker on the robot arm which has the robot type, serial numbers and those numbers for calibration offsets.  These numbers should match what you see in the pendant.  AT this point, please also check that the robot serial numbers matches the sticker on the controller.

lemster68

Did you verify the calibration offsets also?
Teach the TCP and see if you can get a good result.

SBENO

lemster68 said:

Did you verify the calibration offsets also?
Teach the TCP and see if you can get a good result.

Have a look here: https://imgur.com/a/vfNqVuo
Max error 5.12mm.
We do not have a tcp pen, we are using the welding wire from the nozzle.
The robot is an IRB4600-40/2.55C, as I´ve understood this is not the most accurate robot but i feel like we should get a better value than that anyway.

lemster68

Are you telling me that is the result of teaching a tcp?  And what about the calibration offsets?

SBENO

lemster68 said:

Are you telling me that is the result of teaching a tcp?  And what about the calibration offsets?

Sorry for a noob question, but how do I verify this?

SBENO

lemster68 said:

Are you telling me that is the result of teaching a tcp?  And what about the calibration offsets?

Please have a look on this, is this what you are searching?
https://imgur.com/a/uiMMS3O
They no not match, so i guess this might be my problem.

DenisFR

Hello,

You can check your motor turn with MoveAbsJ [0,0,0,0,0,0],...