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haneulineshaneulines Posts: 23 Apprentice
Hello everybody,

im trying to do a circle move with a UR3 but it doesn’t work.. I don’t understand the error.

can someone help me please ?

Comments

  • matthewd92matthewd92 Founding Pro, Tactile Sensor Beta Testers Posts: 1,261 Handy
    What is the pose of the center point?
  • jelmsjelms Posts: 34 Handy
    @haneulines Unfortunately I don't speak French and google translate didn't help me. Attached is an example of a circle move similar to what I think you are attempting. I've seen joint limits and other general out of range errors when trying these. I did this on a UR5 virtual machine simulator.
  • matthewd92matthewd92 Founding Pro, Tactile Sensor Beta Testers Posts: 1,261 Handy
    I believe the error translates to the path is not reachable. With a UR3 there is limited range, if you can provide the pose of the center point it would be helpful
  • LoïcLoïc Posts: 34 Handy
    Bonjour,

    A priori le robot n'arrive pas à atteindre le premier point de votre cercle.
    êtes vous sûr que votre point centre est exprimé en coordonnées cartésiennes (X,Y,Z,Rx,Ry,Rz) et pas en coordonnées articulaires (valeur axe par axe)?
    Vous commencez par un déplacementP depuis un point de passage, avez-vous tentez de faire un déplacementA vers vos 4 points pour vérifier qu'ils soient accessibles?
  • haneulineshaneulines Posts: 23 Apprentice

    Hello,

    Attached the pose of the center point.

    Maybe the problem is the function that I used for Movej ?
    s t



  • haneulineshaneulines Posts: 23 Apprentice
    @jelms

    I tried your program but it still doesn’t work... I think the problème here is the pose of the center but I don’t know why.


  • haneulineshaneulines Posts: 23 Apprentice
    Thank you everybody. I found the problem. Now it works !
  • jelmsjelms Posts: 34 Handy
    @haneulines Can you share the solution for future people that may have similar issues?
  • haneulineshaneulines Posts: 23 Apprentice
    I tried @jelms 's program and it worked !
    .
    Program
       Robot Program
         r≔45
         r≔r/1000
         var_1≔p[0.2,0.2,0,0,3.14,0]
         var_2≔pose_add(var_1,p[r,0,0,0,0,0])
         var_3≔pose_add(var_1,p[0,r,0,0,0,0])
         var_4≔pose_add(var_1,p[-r,0,0,0,0,0])
         var_5≔pose_add(var_1,p[0,-r,0,0,0,0])
         MoveJ
           var_5
         MoveP
           var_5
           CircleMove
             var_2
             var_3
           CircleMove
             var_4
             var_5




    My program works only with the MoveJ point (in bold).
    Whitout it I had lots of error messages and I still don't know why..

    Before, I was recording the position of the TCP manually, by using the freedrive command.
    And then I tried to save the position by entering X Y Z RX RY RZ in the parameters of the TCP and it worked.

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