[jessicat]

Hello,

I am working with an Epson VT6L arm and am noticing lots of inconsistencies between simulated position and actual position when attempting linear movements. Everything works well in simulation, but the robot does not move as anticipated when executing the commands. I have experienced this when working with multiple different joints but I will include screenshots of the results and the RoboDK environment when only trying to move joint 2. I would like to note as well that I can only run linear moves in high power mode, otherwise I receive error 4241 (over speed during low power mode detected) even when setting a considerably lower speed and acceleration.  

Thank you for your time,
Jessica

[Albert]

We are updating all our Epson robots as we noticed there have been some inconsistencies with the way we modelled the kinematics of the 6-axis robot arms and the Scara robots.

I attached some Epson robots with the correct kinematics. They are still not updated properly in our official library but should be updated soon.

[jessicat]

Hi Albert,

Thank you for your response. I downloaded the Epson-VT6 robot you attached and ran the same tests with it and experienced similar results. When sent linearly from position [0 0 0 0 15 0] to position [0 15 0 0 15 0], CJNTALL reported its actual position as [-31.80 21.23 -11.51 70.70 0 360]. Similarly, when sent linearly from position [0 0 0 0 15 0] to [0 30 0 0 15 0], the robot's actual position was [-47.46 33.13 -12.48 57.83 0 292.98]. I'd be happy to run more tests if there is useful information I can provide.

Thank you again,
Jessica

[Albert]

We can better help by scheduling a call with @Alex and @Phillip.

Can you contact us through https://robodk.com/contact and mention this thread?

[jessicat]

Yes, I sent an email to the one listed there. Thank you