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Ethernet linked RoboDK -> Controller show different cartesian coordinates
#1
I have an ethernet connection between RoboDK and my KRC4 controller.

When I select 'get robot joints' in the connection panel the cartesian rotation coordinates displayed are different from those displayed on the smartPAD. This is with or without a tool frame.

I think related is that I am getting singularity errors when I run a linear move on the robot through the RoboDK ethernet connection, even though when I run the same program as a simulation everything goes as planned.

Anyone with any idea what's happening or how to fix this?
#2
Adding some information...


The coordinates according to RoboDK are shown in the first picture

Picture 2 shows the coordinates according to the robot. Position values are the same, orientation values are different

Next shows IpoMode selection as flange

When I change IpoMode to Ext. tool you can see in the final picture the orientation values match up but the position values do not

Problems with attachments so uploaded here:
https://ibb.co/n6bA4d
https://ibb.co/evdJqJ
https://ibb.co/b9k3Pd
https://ibb.co/kUXsjd
https://ibb.co/eyxxHy


Attached Files Thumbnail(s)
   
#3
For some reason your robot panel shows a setup of 'Staubli/Mecademic' which defines the order of orientation.
By default they should be 'KUKA/Nachi/ABB' as you're using a KUKA robot.
You can use the drop down list to change it back.
  




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