Wrong direction

mattam
✭
Hello
We have a parallel robot - FlexPicker with PM3 where we have problems with axis 4. For some (little) angle the robot goes in the wrong direction. We limited the axis 4 (rob1_4) from -3.55 to 3.55 and we also set an independent limitation from -3.55 to 3.55 because of tool design. we tried with different angle limitations, but the robot is responding the same. If I manually move the robot with the same tool the movement limits are properly set. What can be the problem?
Thank you in advance!
Best regards,
Matt
We have a parallel robot - FlexPicker with PM3 where we have problems with axis 4. For some (little) angle the robot goes in the wrong direction. We limited the axis 4 (rob1_4) from -3.55 to 3.55 and we also set an independent limitation from -3.55 to 3.55 because of tool design. we tried with different angle limitations, but the robot is responding the same. If I manually move the robot with the same tool the movement limits are properly set. What can be the problem?
Thank you in advance!
Best regards,
Matt
0
Comments
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Hi,SingArea Wrist + ConfLOn is often used when you have a limited working range on axis 4. This will keep the axis inside the working range for linear movements. However, the robot may not move to the closest axis 4 configuration. It will move to the configuration closest to the quadrant specified by cf4 confdata in robtarget, and this may require a ~360 degree movement of axis 4 depending on the start position. Modify cf4 if you want to go in the other direction.To reduce number of long movements in this case, E.g. set cf4 = -2 if current pos of axis 4 < 0. Use cf4 = 1 otherwise.Best regards,Anders0
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