About RelTool

Robot Controller
1

Hi everyone
i need your help,the robot type is IRB 6400 and the OS is S4C 3.0-4.
i want the robot to rotate 180 degree around its Z-axis.so i program it like below:
MoveL RelTool (p1, 0, 0, 0 Rx:=0Ry:=0Rz:= 180), v100, fine, tool1;
but when you run it,an error message will appear on the teachpendant,which says 50080:Position not compatible.
Position cannot be reached with the
given robot configuration,if you change180 degree to less than 135 degree,it can be run
what’s the reason

thanks a lot!

2

Hi
You need to turn of configuration, because the teached configuration on axis6 is different between p1 and rotated p1.

And you do that like this

ConfLOff;

3

The reason is that the robot don’t now witch way to go to archive the configuration, so it is limit to reorient more than 90 degrees to keep the robot on a liner path.

You can turn off the configuration check whit ConfLoff ; and on ConfLon;

divide the reorientation in more points…

MoveL RelTool (p1, 0, 0, 0 Rx:=0Ry:=0Rz:= 90), v100, fine, tool1;
!! ok if fine is use before !!

P2:=CrobT();

MoveL RelTool (p2, 0, 0, 0 Rx:=0Ry:=0Rz:= 90), v100, fine, tool1;

or use MoveJ

MoveJ RelTool (p2, 0, 0, 0 Rx:=0Ry:=0Rz:= 90), v100, fine, tool1;

or

p2::=CalcJointT(RelTool (p1, 0, 0, 0 Rx:=0Ry:=0Rz:= 180),tool1);

MoveABSJ p2, v100, fine, tool1;

or

P2:=CalcJointT(RelTool (p1, 0, 0, 0 Rx:=0Ry:=0Rz:= 180),tool1);

p1:=CalcRobT(p2,tool1);

MoveL p1, v100, fine, tool1; !more than 90 deggres

or I think you change the value of the recorded configuration to be betwen the 2 points. coresponding in your case to real position RelTool (p1, 0, 0, 0 Rx:=0Ry:=0Rz:= 90)

like

p1.confdata.cf1:=??

p1.confdata.cf4:=??

p1.confdata.cf6:=??

p1.confdata.cfx:=??

PS. if the reorientation is more than 90 confdata will change by +/- 1

MoveL instrucktion will give alarm if change by +/- 2 equals more than 180 degrees. if not ConfLoff ..!

or if confdata is set to [0,0,0,0] no configdata is used

IS THIS CORRECT ??

4

Use the instruction confL/OFF

5

Thank you,PerSvensson,vulpes_h and Semircn

all your solutions can solve this problem

I really appreciate your help