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Wrong direction

mattam
mattam ✭
in Robot Controller
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



Comments

  • AndersL
    AndersL ✭✭
    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,

    Anders

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