RS510 Reach Issue

Damian

Hi,

I've got an odd problem with RS510, using a IRB260, even in a new,
clean station on a clean install of RS510 i get a reach error when the
joints are no where near their maximums. If anyone can try the
following code on RS510 and let me know how it goes it would be great:

%%%
   VERSION: 1
   LANGUAGE: ENGLISH
%%%

MODULE Module1

    PERS tooldata tool:=[TRUE,[[-602,1022,260],[-8.291281523318E-17,0.823002550656506,0.568037676226573,-1.23356971221482E-17]],[18.5,[-382.4,181.4,1.1],[1,0,0,0],0,0,2.345]];

    PERS robtarget P1_1:=[[-660,-105,560],[0.00869826,-1.17562E-07,-1.81024E-06,0.999959],[-2,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    PERS robtarget P1_2:= [[-680,10,508],[0.00844782,-1.59018E-07,-1.80264E-06,0.999961],[-2,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    PERS robtarget P1_3:= [[-680,-110,508],[0.00838244,-1.17562E-07,-1.81024E-06,0.999962],[-2,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

    PERS speeddata V_Spd     :=[100,500,5000,1000];

PROC main()
        ! reach error when line 4 executes
        MoveJ P1_1,V_Spd ,fine,tool; !1
        MoveL P1_2,V_Spd ,fine,tool; !2
        MoveL P1_3,V_Spd ,fine,tool; !3
        MoveL P1_2,V_Spd ,fine,tool; !4

ENDPROC

ENDMODULE

Ive had ABB Aust. run it successfully, but 2 PCs in my office fail
on the final move, the robot on site run fine.

Finally i get this error when the robot model loads in RS510:
IRB260_30_150__01_2: The number of joints is different between the library model and the controller configurations.    12/06/2008 9:13:04 AM   
Could this be the reason for my reach error ? How do i stop the error?

Thanks,
Damian

Henrik Berlin

Hi,

I managed to reproduced the problem. It seems that the problem is related to the large tool (> 1m) that cause numerical challenges for the virtual controller on the PC. With such a large tool, the controller becomes very sensitive to the orientation of the targets. I was able to make the VC execute the program after "cleaning" the quaterions, see below:

PERS robtarget P1_1:=[[-660,-105,560],[0,0,0,1], [-2,0,1,0], [9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
PERS robtarget P1_2:= [[-680,10,508],[0,0,0,1],[-2,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
PERS robtarget P1_3:= [[-680,-110,508],[0,0,0,1],[-2,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

 

Henrik Berlin2008-6-12 15:44:30

Henrik Berlin

... the error message is expected, since the IRB260 has six axes in the controller (of which two are locked) but only four in RobotStudio.