[kang6173]

Hello,
I'm working with a Yaskawa GP-50 robot combined with a custom H-Bot system.
In this setup, we are using only the X and Y axes of the H-Bot, and the Z axis is fixed (set to a constant value of 0, i.e., -0 ~ 0).
Here’s what I’m doing:

• I generate a path in SolidWorks and import it into RoboDK.
  
• In the Curve Follow Project, I apply the following settings:
  • Enable Axes Optimization
    
  • Enable Move External Axes
    
  • Lock J9 (Z-axis) of the external axes
    
  • Set the path to Start from here
    

However, I encounter the following problems:

• When I click "Generate program", I get the error: "Can't find a start point"
  
• When I click "Show estimated tool path", I get: "The robot cannot reach all targets in the path"
  

Has anyone faced a similar issue or know how to resolve this?
I would really appreciate any help or advice!
Thank you in advance!

[Albert]

It looks like you modelled your gantry system with the range of one of the axis blocked at 0 mm. I recommend you to provide some range, even if it is small (for example, from -0.1 mm to +0.1 mm), so that RoboDK can find a valid solution.

You can also use the optimization settings to force this axis to remain at 0 mm.

Another option is to model your 3-axis gantry as a 2-axis mechanism if you don't use that 3rd axis.

I also noticed that you didn't add a tool/TCP. I recommend you to add a TCP, even if it is virtual and at the location of the robot flange.