Circular movements around TCP

selivanov

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?

evasiliauskaite

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

selivanov

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;

lemster68

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.

selivanov

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?

selivanov

This is very strange, because I've seen details grow in a spiral upward....

lemster68

I do not understand your most recent comment.  Have you verified the real robot TCP to ensure that it is very, very good?

selivanov

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...

graemepaulin

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?

DenisFR

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.

selivanov

The robot is calibrated. It has problems, in that when the positioner is rotated in workobjete, the fixed TCP is shifted by 1 mm, although it should not.
 In my program, the robot should only move progressively upwards, and the positioner should rotate around its axis. You'll get a spiral. But the problem is that the robot's body starts making circular movements with the 3 and 4 axes. It's like it's bypassing the singularity points. although the 5 axis is not set to zeros and it does not produce singularity errors.

DenisFR

Hello,

Can you post some image and code so we can understand?

EricH

To analyze your example code, we need your robot type and the tool and workobj coordinates