Circular movements around TCP

selivanovselivanov Russia
Hello guys!
I wrote a program for cladding using points. Using a third-party program, then edited it in robotstudio. The torch makes a forward upward movement, and the positioner rotates. It turns out a spiral. The program is written on points, everything goes well in the robotstudio, the axis 6 does not move. But when running on a real robot, it makes circular movements around TCP. The movement of the 6 axis changes in the range of 7 degrees. The position of the 5 axis is not equal to 0 degrees.
What do you think about it? How do I remove rotation around TCP?

Comments

  • evasiliauskaiteevasiliauskaite Belgium
    Hi. Certainly, I am not an not an expert on robot programing (but I am trying to program robot with positioner for 3D printing). I could think of two possible causes:

    1. You run simulation in auto mode, while you run experiment in manual mode
    2. SingArea\Wrist is on

    Posting a piece of code would also help to check your question :)
  • selivanovselivanov Russia
    evasiliauskaite said:
    Hi. Certainly, I am not an not an expert on robot programing (but I am trying to program robot with positioner for 3D printing). I could think of two possible causes:

    1. You run simulation in auto mode, while you run experiment in manual mode
    2. SingArea\Wrist is on

    Posting a piece of code would also help to check your question :)
    Hi! I tried all possible variants of SingArea, but it didn't work.

    That is example rapidcode:

    ActUnit STN1;
            Confl\On;
            SingArea\Off;
            MoveJ [[80.554,1.583,148.482],[0,0.7,0.714,0],[-2,-2,0,1],[9E+09,0,22588.874,9E+09,9E+09,9E+09]],v1000,z100,Fronius_MTB_500iWR\WObj:=wobj_Proect;
            MoveJ [[73.483,1.583,141.411],[0,0.699,0.715,0],[-2,-2,0,1],[9E+09,0,22588.766,9E+09,9E+09,9E+09]],v1000,z100,Fronius_MTB_500iWR\WObj:=wobj_Proect;
            MoveJ [[73.483,1.583,2.737],[0,0.699,0.715,0],[-2,-2,0,1],[9E+09,0,22588.766,9E+09,9E+09,9E+09]],v1000,z100,Fronius_MTB_500iWR\WObj:=wobj_Proect;
            MoveL [[73.483,1.583,0.012],[0,0.699,0.715,0],[-2,-2,0,1],[9E+09,0,22588.766,9E+09,9E+09,9E+09]],v1000,z100,Fronius_MTB_500iWR\WObj:=wobj_Proect;
                    MoveC [[23.693,69.577,0.003],[0,0.163,0.987,0],[-2,-2,0,1],[9E+09,0,22518.805,9E+09,9E+09,9E+09]],[[-57.246,46.099,0.012],[0,-0.432,0.902,0],[-2,-2,0,1],[9E+09,0,22448.844,9E+09,9E+09,9E+09]],v1000,z0,Fronius_MTB_500iWR\WObj:=wobj_Proect;
            MoveC [[-62.924,-37.984,0.01],[0,0.871,-0.492,0],[-2,-2,0,1],[9E+09,0,22378.883,9E+09,9E+09,9E+09]],[[14.122,-72.131,0.012],[0,0.995,0.097,0],[-2,-2,0,1],[9E+09,0,22308.922,9E+09,9E+09,9E+09]],v1000,z0,Fronius_MTB_500iWR\WObj:=wobj_Proect;
            MoveC [[57.246,-46.099,0.006],[0,0.902,0.432,0],[-2,-2,0,1],[9E+09,0,22268.844,9E+09,9E+09,9E+09]],[[73.483,1.583,0.012],[0,0.699,0.715,0],[-2,-2,0,1],[9E+09,0,22228.766,9E+09,9E+09,9E+09]],v1000,z0,Fronius_MTB_500iWR\WObj:=wobj_Proect;
            MoveC [[23.784,69.545,0.283],[0,0.164,0.986,0],[-2,-2,0,1],[9E+09,0,22158.88,9E+09,9E+09,9E+09]],[[-57.125,46.25,0.555],[0,-0.431,0.903,0],[-2,-2,0,1],[9E+09,0,22088.994,9E+09,9E+09,9E+09]],v1000,z0,Fronius_MTB_500iWR\WObj:=wobj_Proect;
            MoveC [[-63.075,-37.734,0.829],[0,0.87,-0.493,0],[-2,-2,0,1],[9E+09,0,22019.111,9E+09,9E+09,9E+09]],[[13.739,-72.204,1.097],[0,0.996,0.094,0],[-2,-2,0,1],[9E+09,0,21949.227,9E+09,9E+09,9E+09]],v1000,z0,Fronius_MTB_500iWR\WObj:=wobj_Proect;
            MoveC [[57.11,-46.268,1.258],[0,0.903,0.43,0],[-2,-2,0,1],[9E+09,0,21909.013,9E+09,9E+09,9E+09]],[[73.484,1.541,1.41],[0,0.7,0.714,0],[-2,-2,0,1],[9E+09,0,21868.799,9E+09,9E+09,9E+09]],v1000,z0,Fronius_MTB_500iWR\WObj:=wobj_Proect;
            MoveC [[23.824,69.532,1.689],[0,0.164,0.986,0],[-2,-2,0,1],[9E+09,0,21798.913,9E+09,9E+09,9E+09]],[[-57.098,46.283,1.954],[0,-0.43,0.903,0],[-2,-2,0,1],[9E+09,0,21729.028,9E+09,9E+09,9E+09]],v1000,z0,Fronius_MTB_500iWR\WObj:=wobj_Proect;
            MoveC [[-63.09,-37.707,2.229],[0,0.87,-0.493,0],[-2,-2,0,1],[9E+09,0,21659.135,9E+09,9E+09,9E+09]],[[13.72,-72.208,2.497],[0,0.996,0.094,0],[-2,-2,0,1],[9E+09,0,21589.241,9E+09,9E+09,9E+09]],v1000,z0,Fronius_MTB_500iWR\WObj:=wobj_Proect;
            MoveC [[57.089,-46.293,2.659],[0,0.903,0.43,0],[-2,-2,0,1],[9E+09,0,21549.038,9E+09,9E+09,9E+09]],[[73.485,1.494,2.81],[0,0.7,0.714,0],[-2,-2,0,1],[9E+09,0,21508.835,9E+09,9E+09,9E+09]],v1000,z0,Fronius_MTB_500iWR\WObj:=wobj_Proect;
            MoveC [[23.868,69.516,3.087],[0,0.165,0.986,0],[-2,-2,0,1],[9E+09,0,21438.95,9E+09,9E+09,9E+09]],[[-57.068,46.319,3.354],[0,-0.43,0.903,0],[-2,-2,0,1],[9E+09,0,21369.064,9E+09,9E+09,9E+09]],v1000,z0,Fronius_MTB_500iWR\WObj:=wobj_Proect;
            MoveC [[-63.114,-37.667,3.631],[0,0.87,-0.494,0],[-2,-2,0,1],[9E+09,0,21299.171,9E+09,9E+09,9E+09]],[[13.674,-72.216,3.897],[0,0.996,0.093,0],[-2,-2,0,1],[9E+09,0,21229.278,9E+09,9E+09,9E+09]],v1000,z0,Fronius_MTB_500iWR\WObj:=wobj_Proect;
            MoveC [[57.059,-46.33,4.059],[0,0.903,0.43,0],[-2,-2,0,1],[9E+09,0,21189.075,9E+09,9E+09,9E+09]],[[73.486,1.447,4.21],[0,0.7,0.714,0],[-2,-2,0,1],[9E+09,0,21148.872,9E+09,9E+09,9E+09]],v1000,z0,Fronius_MTB_500iWR\WObj:=wobj_Proect;
            MoveC [[23.913,69.501,4.485],[0,0.165,0.986,0],[-2,-2,0,1],[9E+09,0,21078.987,9E+09,9E+09,9E+09]],[[-57.038,46.356,4.754],[0,-0.43,0.903,0],[-2,-2,0,1],[9E+09,0,21009.101,9E+09,9E+09,9E+09]],v1000,z0,Fronius_MTB_500iWR\WObj:=wobj_Proect;
            MoveC [[-63.139,-37.626,5.031],[0,0.869,-0.494,0],[-2,-2,0,1],[9E+09,0,20939.208,9E+09,9E+09,9E+09]],[[13.628,-72.225,5.297],[0,0.996,0.093,0],[-2,-2,0,1],[9E+09,0,20869.315,9E+09,9E+09,9E+09]],v1000,z0,Fronius_MTB_500iWR\WObj:=wobj_Proect;
            MoveC [[57.03,-46.366,5.459],[0,0.903,0.43,0],[-2,-2,0,1],[9E+09,0,20829.112,9E+09,9E+09,9E+09]],[[73.487,1.4,5.61],[0,0.7,0.714,0],[-2,-2,0,1],[9E+09,0,20788.909,9E+09,9E+09,9E+09]],v1000,z0,Fronius_MTB_500iWR\WObj:=wobj_Proect;
            MoveC [[23.957,69.486,5.885],[0,0.165,0.986,0],[-2,-2,0,1],[9E+09,0,20719.023,9E+09,9E+09,9E+09]],[[-57.009,46.392,6.154],[0,-0.429,0.903,0],[-2,-2,0,1],[9E+09,0,20649.138,9E+09,9E+09,9E+09]],v1000,z0,Fronius_MTB_500iWR\WObj:=wobj_Proect;
            MoveC [[-63.163,-37.586,6.429],[0,0.869,-0.494,0],[-2,-2,0,1],[9E+09,0,20579.244,9E+09,9E+09,9E+09]],[[13.582,-72.234,6.697],[0,0.996,0.093,0],[-2,-2,0,1],[9E+09,0,20509.351,9E+09,9E+09,9E+09]],v1000,z0,Fronius_MTB_500iWR\WObj:=wobj_Proect;
            MoveC [[57,-46.403,6.857],[0,0.903,0.429,0],[-2,-2,0,1],[9E+09,0,20469.148,9E+09,9E+09,9E+09]],[[73.488,1.353,7.01],[0,0.701,0.714,0],[-2,-2,0,1],[9E+09,0,20428.945,9E+09,9E+09,9E+09]],v1000,z0,Fronius_MTB_500iWR\WObj:=wobj_Proect;
            MoveC [[24.002,69.47,7.285],[0,0.166,0.986,0],[-2,-2,0,1],[9E+09,0,20359.06,9E+09,9E+09,9E+09]],[[-56.979,46.429,7.553],[0,-0.429,0.903,0],[-2,-2,0,1],[9E+09,0,20289.174,9E+09,9E+09,9E+09]],v1000,z0,Fronius_MTB_500iWR\WObj:=wobj_Proect;
            MoveC [[-63.191,-37.538,7.83],[0,0.869,-0.495,0],[-2,-2,0,1],[9E+09,0,20219.288,9E+09,9E+09,9E+09]],[[13.518,-72.246,8.097],[0,0.996,0.092,0],[-2,-2,0,1],[9E+09,0,20149.402,9E+09,9E+09,9E+09]],v1000,z0,Fronius_MTB_500iWR\WObj:=wobj_Proect;
            MoveC [[56.97,-46.439,8.271],[0,0.903,0.429,0],[-2,-2,0,1],[9E+09,0,20109.185,9E+09,9E+09,9E+09]],[[73.488,1.324,8.41],[0,0.701,0.713,0],[-2,-2,0,1],[9E+09,0,20068.968,9E+09,9E+09,9E+09]],v1000,z0,Fronius_MTB_500iWR\WObj:=wobj_Proect;
            MoveC [[24.029,69.461,8.685],[0,0.166,0.986,0],[-2,-2,0,1],[9E+09,0,19999.083,9E+09,9E+09,9E+09]],[[-56.961,46.451,8.954],[0,-0.429,0.903,0],[-2,-2,0,1],[9E+09,0,19929.197,9E+09,9E+09,9E+09]],v1000,z0,Fronius_MTB_500iWR\WObj:=wobj_Proect;
            MoveC [[-63.201,-37.521,9.23],[0,0.869,-0.495,0],[-2,-2,0,1],[9E+09,0,19859.304,9E+09,9E+09,9E+09]],[[13.507,-72.248,9.497],[0,0.996,0.092,0],[-2,-2,0,1],[9E+09,0,19789.411,9E+09,9E+09,9E+09]],v1000,z0,Fronius_MTB_500iWR\WObj:=wobj_Proect;
            MoveC [[56.952,-46.462,9.654],[0,0.903,0.429,0],[-2,-2,0,1],[9E+09,0,19749.208,9E+09,9E+09,9E+09]],[[73.489,1.277,9.81],[0,0.701,0.713,0],[-2,-2,0,1],[9E+09,0,19709.005,9E+09,9E+09,9E+09]],v1000,z0,Fronius_MTB_500iWR\WObj:=wobj_Proect;
            MoveC [[24.074,69.445,10.087],[0,0.166,0.986,0],[-2,-2,0,1],[9E+09,0,19639.119,9E+09,9E+09,9E+09]],[[-56.931,46.487,10.354],[0,-0.429,0.903,0],[-2,-2,0,1],[9E+09,0,19569.234,9E+09,9E+09,9E+09]],v1000,z0,Fronius_MTB_500iWR\WObj:=wobj_Proect;
            MoveC [[-63.225,-37.48,10.63],[0,0.869,-0.495,0],[-2,-2,0,1],[9E+09,0,19499.34,9E+09,9E+09,9E+09]],[[13.461,-72.257,10.897],[0,0.996,0.092,0],[-2,-2,0,1],[9E+09,0,19429.447,9E+09,9E+09,9E+09]],v1000,z0,Fronius_MTB_500iWR\WObj:=wobj_Proect;
            MoveC [[56.922,-46.498,11.056],[0,0.904,0.429,0],[-2,-2,0,1],[9E+09,0,19389.244,9E+09,9E+09,9E+09]],[[73.489,1.23,11.21],[0,0.701,0.713,0],[-2,-2,0,1],[9E+09,0,19349.041,9E+09,9E+09,9E+09]],v1000,z0,Fronius_MTB_500iWR\WObj:=wobj_Proect;
            MoveC [[24.118,69.43,11.487],[0,0.166,0.986,0],[-2,-2,0,1],[9E+09,0,19279.156,9E+09,9E+09,9E+09]],[[-56.901,46.524,11.754],[0,-0.428,0.904,0],[-2,-2,0,1],[9E+09,0,19209.27,9E+09,9E+09,9E+09]],v1000,z0,Fronius_MTB_500iWR\WObj:=wobj_Proect;
            MoveC [[-63.249,-37.44,12.029],[0,0.869,-0.495,0],[-2,-2,0,1],[9E+09,0,19139.377,9E+09,9E+09,9E+09]],[[13.415,-72.265,12.297],[0,0.996,0.092,0],[-2,-2,0,1],[9E+09,0,19069.484,9E+09,9E+09,9E+09]],v1000,z0,Fronius_MTB_500iWR\WObj:=wobj_Proect;
            MoveC [[56.893,-46.534,12.459],[0,0.904,0.428,0],[-2,-2,0,1],[9E+09,0,19029.281,9E+09,9E+09,9E+09]],[[73.49,1.183,12.61],[0,0.701,0.713,0],[-2,-2,0,1],[9E+09,0,18989.078,9E+09,9E+09,9E+09]],v1000,z0,Fronius_MTB_500iWR\WObj:=wobj_Proect;
            MoveC [[24.162,69.415,12.888],[0,0.167,0.986,0],[-2,-2,0,1],[9E+09,0,18919.192,9E+09,9E+09,9E+09]],[[-56.872,46.56,13.154],[0,-0.428,0.904,0],[-2,-2,0,1],[9E+09,0,18849.307,9E+09,9E+09,9E+09]],v1000,z0,Fronius_MTB_500iWR\WObj:=wobj_Proect;
            MoveC [[-63.273,-37.4,13.427],[0,0.869,-0.496,0],[-2,-2,0,1],[9E+09,0,18779.413,9E+09,9E+09,9E+09]],[[13.369,-72.274,13.697],[0,0.996,0.091,0],[-2,-2,0,1],[9E+09,0,18709.52,9E+09,9E+09,9E+09]],v1000,z0,Fronius_MTB_500iWR\WObj:=wobj_Proect;
            MoveC [[56.863,-46.571,13.855],[0,0.904,0.428,0],[-2,-2,0,1],[9E+09,0,18669.317,9E+09,9E+09,9E+09]],[[73.491,1.136,14.01],[0,0.702,0.713,0],[-2,-2,0,1],[9E+09,0,18629.114,9E+09,9E+09,9E+09]],v1000,z0,Fronius_MTB_500iWR\WObj:=wobj_Proect;
            MoveC [[24.206,69.399,14.288],[0,0.167,0.986,0],[-2,-2,0,1],[9E+09,0,18559.229,9E+09,9E+09,9E+09]],[[-56.842,46.596,14.554],[0,-0.428,0.904,0],[-2,-2,0,1],[9E+09,0,18489.343,9E+09,9E+09,9E+09]],v1000,z0,Fronius_MTB_500iWR\WObj:=wobj_Proect;
            MoveC [[-63.297,-37.359,14.826],[0,0.868,-0.496,0],[-2,-2,0,1],[9E+09,0,18419.45,9E+09,9E+09,9E+09]],[[13.323,-72.282,15.097],[0,0.996,0.091,0],[-2,-2,0,1],[9E+09,0,18349.557,9E+09,9E+09,9E+09]],v1000,z0,Fronius_MTB_500iWR\WObj:=wobj_Proect;
  • lemster68lemster68 United States ✭✭✭
    Look up the instruction CirPathMode, try using it after you read how the robot interpolates circle moves.  You will most likely need the optional argument \CirPointOri.  Take out SingArea stuff.
    Lee Justice
  • selivanovselivanov Russia
    I have tried all possible instructions for CirPoint, SignArea, confL, and their combinations. Did not give a positive result. the robot makes circular movements of the wrist from point to point.... Any other suggestions?
  • selivanovselivanov Russia
    This is very strange, because I've seen details grow in a spiral upward....
  • lemster68lemster68 United States ✭✭✭
    I do not understand your most recent comment.  Have you verified the real robot TCP to ensure that it is very, very good?
    Lee Justice
  • selivanovselivanov Russia
    This is very strange, because I've seen details grow in a spiral upward.... 
    I wanted to say that I've seen how other robots are doing it. their TCP stands still, it does not make circular movements. My robot doesn't work normally...
  • graemepaulingraemepaulin New Zealand ✭✭✭
    Please post a snip or photo of your cell layout.
    You should not need to use circular moves as the positioner takes care of this - just need to move side ways?
  • DenisFRDenisFR FRANCE ✭✭✭
    Hello,
    Is your robot well calibrated and rev counter updated?
    Once I've got this, rotation on tool Z make it move like corkscrew.
    It was because axis 3 was on bad turn.

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