Hi,
In simulation a milling program with a Fanuc robot on a rail works fine. When I generate the program files and open an LS-file there are positions which are impossible for the robot to reach. When I try to run the file on the robot controller I get an error "Position is unreachable".
Joint-positions are no problem but cartesian positions are unreachable for the robot (e.g. X= -3979 mm, in UF_9).
It looks as if the positions are calculated with the wrong Frame as a reference? But then again, why is the simulation in RoboDK running like a charm?
UF_9 = -2315, 1697, -217, 90, 0, 0
TF_9 = 240, 0, 50, 0, 90, 0
See the following part of the .LS-file.
/POS
P[1]{
GP1:
UF : 9, UT : 9,
J1= -77.081 deg, J2= -27.093 deg, J3= 14.298 deg,
J4= -160.426 deg, J5= -63.759 deg, J6= 4.452 deg,
E1= -6000.000 mm
};
P[2]{
GP1:
UF : 9, UT : 9, CONFIG : 'N U T, 0, 0, 0',
X = -3979.380 mm, Y = 2539.940 mm, Z = 296.944 mm,
W = 176.899 deg, P = -8.453 deg, R = -69.771 deg,
E1= -6000.000 mm
};
P[3]{
GP1:
UF : 9, UT : 9, CONFIG : 'N U T, 0, 0, 0',
X = -3961.070 mm, Y = 2558.020 mm, Z = 294.081 mm,
W = 176.899 deg, P = -8.453 deg, R = -69.771 deg,
E1= -6000.000 mm
};
In simulation a milling program with a Fanuc robot on a rail works fine. When I generate the program files and open an LS-file there are positions which are impossible for the robot to reach. When I try to run the file on the robot controller I get an error "Position is unreachable".
Joint-positions are no problem but cartesian positions are unreachable for the robot (e.g. X= -3979 mm, in UF_9).
It looks as if the positions are calculated with the wrong Frame as a reference? But then again, why is the simulation in RoboDK running like a charm?
UF_9 = -2315, 1697, -217, 90, 0, 0
TF_9 = 240, 0, 50, 0, 90, 0
See the following part of the .LS-file.
/POS
P[1]{
GP1:
UF : 9, UT : 9,
J1= -77.081 deg, J2= -27.093 deg, J3= 14.298 deg,
J4= -160.426 deg, J5= -63.759 deg, J6= 4.452 deg,
E1= -6000.000 mm
};
P[2]{
GP1:
UF : 9, UT : 9, CONFIG : 'N U T, 0, 0, 0',
X = -3979.380 mm, Y = 2539.940 mm, Z = 296.944 mm,
W = 176.899 deg, P = -8.453 deg, R = -69.771 deg,
E1= -6000.000 mm
};
P[3]{
GP1:
UF : 9, UT : 9, CONFIG : 'N U T, 0, 0, 0',
X = -3961.070 mm, Y = 2558.020 mm, Z = 294.081 mm,
W = 176.899 deg, P = -8.453 deg, R = -69.771 deg,
E1= -6000.000 mm
};