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tom24tom24 Posts: 42 Apprentice
in Troubleshooting

After I program the UR robot and testing one parts, it missing the position I program and moves to the left or right . We use a vacuum gripper to pick and place parts.

So, what causes the robot missing the position(waypoint)? I highly appreciated for the help.
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  • Nicholas_FrancoeurNicholas_Francoeur Posts: 93 Handy
    @tom24, it would be easier if you'd share the program txt an urp files. If you could also point out which waypoint is skipped.
    Nicholas Francoeur
    Co-Founder | Vanguard Robotics
    e:   [email protected]
    w:  vanguard-robotics.com
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  • tom24tom24 Posts: 42 Apprentice

    Almost all the waypoints the program, it moves the waypoint to the left and after re-program gain works good only one part and it moves to the right on the next parts.

    pallet
     pattern: corner1_2
       Corner2_2
       corner3_2
       corner4_2
     palletsequence
      Approach_2
      pallet_A
      Set
      Vacuum =on
      Wait:.001
      Exit_2
    Movej
      Wait here
      waypoint_5
      waypoint_6
      waypoint_7
    moveL
      waypoint_8
    movej
      waypoint_9
      Set air_blowing=on
      wait:2
      Set airblowing=off
      waypoint_10
    moveL
      waypoint_11
      wait:.5
      waypoint_12
    movej
      waypoint_13
      waypoint_14
      air_blow_1
      Set air _blowing=on
    moveL
      air_blow_2
      air_blow_1
      Set air blowing=off
      Vacuum =off
      Wait:0.5
    movej
      waypoint_15
      waypoint_16
      waypoint_17
      waypoint_18 
      waypoint_19


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  • Nicholas_FrancoeurNicholas_Francoeur Posts: 93 Handy
    @tom24, the URP file would allow us to take a look at the program. There is no obvious reason why a waypoint would be skipped.
    Nicholas Francoeur
    Co-Founder | Vanguard Robotics
    e:   [email protected]
    w:  vanguard-robotics.com
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