Problem with XYZ axis

Developer Tools
1

I am using RobotStudio 5.14.03 with an IRB140. With the robot, I am trying to pick up cylinders and put into place, so I need to move between two positions that are directly above eachother. To simplify things, I am using the same position with an offset, the code written like this:

MoveL Offs(Position1,0,0,300),LowSpeed,z50,tool0;

However, whenever I attempt to do movement along a single axis, the robot move diaglonally. On the example above, the pincer of the robot will rise just fine, but will also pull back a centimeter or two. I tried to do linear movements on other axis, and the problem is the same, there’s a difference on the other axis’ as well. I even tried with ConfL and ConfJ in different on/off combinations, and the problem still persists. I believe that there is a major problem with the XYZ axis, but I am not familiar enough with the controller to know where to reset them.

Is there anyway to fix this axis problem? It might seem like a basic question, but I am completely new to RAPID/ABB robot programming.

Thanks in advance!

2

Make sure the robot is calibrated properly. I would guess axis 2 or axis 3 Revolution Counter is incorrectly updated. If these are not properly calibrated you will not get linear movement. See the IRB140 Procut Manual for calibration instructions

3

MoveL Offs(Position1,0,0,300),LowSpeed,fine,tool0;

Try this move instruction instead. z50 is a pretty large fly-by point, with this you are just asking for deviation from the programmed point. A fine point or possibly even z0 or z1 will keep the path closer to the programmed point. For more info check the RAPID manual under zone data.

Also, if you are using a gripper or other tool you should try to define that, and use that tool declaration instead of tool0. You may have an issue where tool0 is moving to the same point each time, but the gripper you are using may be deviating.

4

Is it the same behaviour if you press the FWD button instead?

5

I have not experience this since then and I think this can be helpful for me. I will try this and leave a post or reply into it if what will be the result.