I've set up a pick and place system.
After a poweroff (the next day) when I turn the robot on and calibrate it again, the coordinates are not the same as before. All axis are between 5 to 10 mm off.
I've tentioned the belts. I don't feel any play when the robot is powered on (maybe a little play but not much).
And it is with all axis so if one belt was loose you would see a difference in X or Y.
It is not a problem with the encoders because the program works fine when in operation. Only after power off it looses the coordinates and I have to teach all positions again. I have not found a pattern in it yet. So e.g. Z is 10 mm off every time.
Any ideas of what I'm doing wrong?
It is not usable this way.
OK I did that.
Calibrated the robot (I think this is required to get all the zero coordinates).
Loaded and ran my picker program. It was a bit off.
Tought the correct positions again.
Picker runs good again.
Loaded and ran rest program. Robot goes in vertical stand. It is not 90 degrees though. It is angled to the back at 80 degrees I'm guessing. See image below.
Powered it off.
Power on. Loaded and ran my picker program again.
It is off about 4 mm.
As I understand it calibration is required every time after power on to get zero values. Because the encoders are not abolute (closed loop?) but count from the start. That's what I read on the forum here.
I can make a video if that explains it better.