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Changing Tooldata in a Rountine
Hello,
I created a new tooldata with new TCP. In a routine, I changed the old tool for the new one. When I attempted to play through the routine in manual/ teach mode, I recieved an error message stating an axis (2 or 3) would move outside its working range. The new tool is the same welding torch just with different front end consumables (and inch or so longer). Why can't I just change the tooldata? Also, I had the correct tool selected in the jogging screen.
Any advice would be greatly appreciated.
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Comments
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It would be helpful to help you if you provide the information on how you created your new tool?
Did you also provided the COG, Inertia, Mass and all other information in the new tool definition or just the TCP point and its quaternions?
If your tool is same as old one, use all tool data from old tool to define your new tool.
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I created a completely new tool from scratch using load identify for COG and Mass. I used the 4 point TCP with X and Z elongators. I think I used 30 degrees in load identify. I was not satisfied with the accuracy of the mean, min, and max error of the first tool so i started over.
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Hi,
Most probably the tool you taught in the first time wasn't done correctly, so when u tried to move to the taught points with new tool you got an error. Try to go to the taught points in the old tool itself and then modify the position using new tool.
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I tried it on the first points of a routine and it seems to be working. is this somehting i could do quicker via Robot Studio or EditPlus? I will have many points to reteach.
Thanks agian for the great help!!!!0 -
There is a function in RS(adjust targets) that may help you. If you right click on a module in the controller you will find the function. Haven't used it so you need to try it out yourself.Per Svensson
Robotics and Vision Specialist
Consat Engineering0
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