Home Programming

Discussion

Left ArrowBack to discussions page
haneulineshaneulines Posts: 13 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: 1,131 Handy
    What is the pose of the center point?
  • jelmsjelms Posts: 27 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: 1,131 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: 27 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?
Sign In or Register to comment.
Left ArrowBack to discussions page