Circular Movement

hagen

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Hello all!



I want to create a circular movement with orientations like shown in the
picture.

When i click on Autoconfiguration and select the config (0,0,0,0) the robot
moves along the path.

But when i click "Move along path" the robot fails, even before reaching
the circular movement.

So what am i doing wrong?

Can anybody help me with that?

Please! Thank you!

Laro88

Try using View robot at point to check that it is sensible. It looks like the tool is rotating, are you certain that it should do so! Perhaps  an altered rotation will make more sense.

Next do a verify, that can also help to identify problems.

Henrik Berlin

As a rule of thumb, the first instruction of a path should always be a MoveJ, since you cannot know where the robot is when starting to execute a path. If you start with MoveL/MoveC, you put a big constraint on the initial motion, that may fail depending on where the robot is when the program execution starts.

hagen

Hello again!

Thank you for the advices!! But these coudn't solve my probs.

The path is beginning with a MOVE J to the start-position of the circular movement.
And you are right, the tool is rotating to keep its orientation to the workpiece.
Since i was told the problem could be with axis 4, which is only allowed to move from 0deg to 180deg and  from 0deg to -180deg, Im trying to create 2 movements which are only a half circle beginning at 0deg to 180deg and then the second from 0deg to -180deg.
Always starting with a MOVE J in the path.

So far the idea. But the problem is still the same, the autoconfig is running without any errors in the outputwindow. When Im trying to "Move along Path" the robot fails!!

When Im moving the robot only to 170deg or -170deg its working!

So maybe you guys got some other ideas??!

Henrik Berlin

What error message do you get in the controller event log?

Please post the problematic path in the currrent thread. Create a self-contained module with all declarations needed for the path (tooldata, wobj, robtargets) and the paths itself so that I can have a look. What robot model are you using?

PerSvensson

Look in the manual for MoveC it says like this

Minimum distance between start and ToPoint is 0.1 mm
Minimum distance between start and CirPoint is 0.1 mm
Minimum angle between CirPoint and ToPoint from the start point is 1 degree

Maybe this could be the problem that your start point and to point is in the same spot

Steve33

Have you tried adding more move c instructions, Splitting your circle into 45 degree segments instead of 90 degree.