RobotStudio event

Can Jog, but can't MoveJ to position

philhoward
philhoward ✭
in Robot Controller
I have a position I need to service which is behind the Manipulator and have extended range on Axis 1 in order to achieve this.
 

I can MoveL there in the normal configuration (-2,0,0,0), but when try and get there backwards (-190 degrees on axis 1, as opposed to +170 degrees) I can jog there by axis, but not by linear jogging and definately not by MoveL commands - which is a near vertical move which it does in "normal" configuration OK.

 

ConfLOff is the previous command in the program.

 

It reports one of two errors - 50171 (speed too low, but currently set to v400?) and 50366 (Internal Status -302).

 

Any ideas?

 

Edited - MoveL, not MoveJ!
philhoward2009-12-15 11:35:49

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  • philhoward
    philhoward ✭
    Have now got error 50141 (speed to high?) for the same movement...too slow, and now too fast???
  • philhoward
    philhoward ✭
    The plot thickens...
     

    I've got it to go to (according to the Virtual Pendant) the same position behind the robot (slightly offset), but if it approaches it from +ve on Axis 1, it's a different physical position and orientation of the TCP than if approached through the -ve sweep of Axis 1.  How the devil can this happen?

     

    I've managed to do this with ConfJOff but even with ConfLOff, it can't move or jog in a Linear movement which is a bit of a problem when i'm stacking items so have to use linear offsets.
  • philhoward
    philhoward ✭
    I think the numerous error messages are because the Axis 1 configuration need to be in quadrant 3 - but this is not allowed.  Does anyone have any idea on how to overcome this?
     

    It claims to be able to get to the position, but Axis 1 stops at 180 degrees and whilst the TCP does actually get to the position, the orientation is wrong (this is only due to the tooldata and my TCP being offset one side from tool0).

     

    Currently i can't see any use in having the extended range on axis 1 if the only way it can get there is using a MoveAbsJ command - sadly of no use to me as i need to do a linear move in the area (and i dread to think how many MoveAbsJ commands it would need to make a straight line..)

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