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MoveC online and offline behavior differences

#1
I am seeing different behavior when performing MoveC commands in simulation only (offline), and when connected to the UR5 robot (online). I have attached a link to three short videos that illustrate the problem. When run offline, the centre of the basket of the tool maintains position when performing a MoveC command (video 1). As soon as I connect to the robot and run online however, both the simulation (video 2) and the real robot (video 3) no longer move in a circle. Further:

1. If I copy the three targets that form the MoveC and create a program on the UR5 pendant, the robot (independent of RoboDK) still exhibits the basket wobble that you can see in these videos.
2. Multiple students (whose code is different to mine) are experiencing exactly the same behaviour.
3. This behaviour is seen on multiple UR5 robots.

https://www.youtube.com/playlist?list=PL...tvfVXMheH9
#2
You can try converting your circular movements to linear movements. You can do this easily by going to Tools-Options-select the Program tab and enable the option Avoid arcs. You can specify the maximum arc size (in mm) to control the length of each linear segment and set a minimum step size to control the proximity of points.

We can't see the videos you shared on YouTube. Could you make them public or unlisted?
#3
The avoid arcs solution seems to make zero difference Albert - at least the various combinations of settings that I have tried. You should be able to see the videos now.
#4
The movement issues you see can be caused by the accuracy limitations of your robot. How did you calibrate your tool?

In any case, I suggest a better approach to perform your movement around the center of interest (center of the coffee filter in your example): you could simply define the TCP at the center of the arc movement (coffee filter in your case), and teach the same target with 2 different orientations. The TCP should only change the orientation without changing the position.

If you can send your RoboDK project file we can better understand.
  




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