Motoshifts can be used to convert pulse jobs relating to one UFrame into pulse jobs relating to another UFrame. The conversion of the pulse jobs into relative jobs by means of the robot control is thus no longer necessary. In addition, the pulses are compared before and after and corrected if necessary. Unintentional flips of the hand axis or unintentional rotations of the T axis can thus be excluded.
With MotoShift, pulse-jobs can be shifted in 6 dimensions.
Prerequisite:
Old and new UFrame in the form of two files UFRAME.CND.
Machine data rc.prm, ro.prm and sv.prm
Pulse jobs on the memory card
Application:
Most users of Motoman robots teach their robot programmes in pulse-jobs. Problems only occur when the robot is moved or the fixture is repositioned. In this case there is no point in calibrating the UFrame, as UFrames are ignored in pulse jobs.
The standard procedure is to change the job from “Pulse” to “Relative” beforehand. But be careful! There are many problems with running relative jobs. Unintentional flips of the hand axis or 360 degree rotations of the T axis may occur. This problem can only be solved by re-teaching the individual problem points. Alternatively, RCONF can be adapted in a complicated way. With both solutions, however, it is necessary to test the entire robot programme in teach mode.
Solution with MotoShift:
All pulse-positions are first converted to axis angles using MotoShift, and then converted forward using the old UFrame. The points are then retransformed with the new UFrame and displayed in pulses again.
The old and new robot axis angles are compared. If the difference is greater than a user-specified value, the position is output. This ensures that there are no unpleasant surprises when the new robot programme is executed.
Pulse jobs can be converted individually or by directory. All converted robot programs are stored in a new shift directory in the current directory. The original pulse-jobs remain unchanged.
