MoveJ when using "go to"?

CaptainAwesome

Dear fellow Roboticists!

I have the following problem: when using "go to position" in the program editor (debug mode), the robot I am trying to program does not follow the same path as when using "MoveJ". I want it to go EXACTLY the same path when using "go to position" as when using the MoveJ instruction in my program. How can this be accomplished? I can't seem to find where to set the mode for the "go to position" command.

System: irb120 and Compact Control.

Thank you so much! Best regards, CA

 

Henrik Berlin

It seems that the Go To function on the FlexPendant does a linear motion corresponding to a MoveL.

To "Go To" using MoveJ you need to step through the program. You can step through the program both using the FlexPendant and RobotStudio RAPID Editor. In RobotStudio you can also set breakpoints at which the program execution will stop.

CaptainAwesome

Thank you Henrik.

Henrik Berlin

Forgot to mention that you can use the "Move To" instruction in RobotStudio to execute a selected move instruction in the Paths&Targets browser. That only applies when you work offline though.

CaptainAwesome

Thanks again, that is nice to know. 

One more question: suppose I have a tool, "leGripper" and a work object, called "leObject". leGripper is placed above leObject, and using MoveL, I go from point1 to point2, like this:

!leGripper is at point1 here.

MoveL point2, v10, fine, leGripperWObj:=leObject;

This works quite as expected.

However, if the robot is at point2 and I tell him to go back to point1, there is an error saying it is out of range for one of the joints!

So,

!leGripper is at point2 here.

MoveL point1, v10, fine, leGripperWObj:=leObject;

gives an error!

Clearly, this would not be out of range if the robot took the same path from point2 to point1 that it took from point1 to point2. Do you have an idea what might be the problem here?

CaptainAwesome

OK, it fixed itself. I made new points and - voilA? - it works like a charm :-D