06-09-2026, 08:25 PM (This post was last modified: 06-14-2026, 03:46 PM by Albert.)
Boa tarde.
Estou tendo problemas com o robô Borunte 1820a.
Consiga-me comunicar com ele e fazê-lo funcionar corretamente. No entanto, ao gerar uma operação de usinagem, ele apresenta um erro e não especifica qual é; somente o driver pode informá-lo.
Notei o seguinte: se eu salvar um alvo e enviá-lo para o robô Borunte, ele envia as coordenadas no modo de junta. Mas se for uma operação de usinagem, ele não envia no modo de junta.
Entrei nas configurações e defini tudo para o modo conjunto, mas não fez diferença alguma.
Vou enviar dois arquivos: um apenas com o objeto alvo e outro com a operação de usinagem.
When using the driver or the post processor: joint movements to joint targets should be sent using joint values and linear movements to Cartesian targets should use Cartesian values.
Make sure to properly define your tool and coordinate system.
I made a base, TCP, I put it in the software, it gets close but not correctly...
And there's a big difference when linear movements. See the real position by the photo, standing still in that position.
It appears that the active TCPs on the real controller do not match those in RoboDK.
To investigate further, you can compare the flange coordinates when all joints are in the zero position.
This comparison should help determine if the physical robot has been mastered correctly.
Moving a step further...
I created a base on the table and set it up in RoboDK. I also defined the TCP and added it to RoboDK.
After that, I noticed that it still didn't go to the exact position. The Z-axis seems way off, and while the X and Y axes are a bit better, they aren't exact either.
Please make sure that the tools and reference frames in the RoboDK station have the following names:
- Tool 1, Tool 2, etc.
- Frame 1, Frame 2, etc.
On the robot controller, manually define the corresponding tools and reference frames under the same indices.
