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Problems regarding generated Cobot program

#1
We're running into issues with the generated robot program. The program is causing an error: Warning Log Message (12.1206) Control Algorithm Category
Target TCP position exceeds workspace limit.

This problem is presenting itself on our Doosan H2017, I have included the generated program, RoboDK station as well as the error message on screen. I zipped the generated program as the .DRL file was not accepted to be uploaded
I can't seem to find any workplace limits in the Cobot configuration. 

The program will run like intended apart from some strange behaviour when assuming the last position before the curve follow project, it assumes the right position but with the tool at a 90 degree angle to the intended position. The Cobot will move the tool to the right angle for the curve follow project and then comes up with the error mentioned earlier.

I have also put this issue on the mail a week ago.
 
Thanks for your help on this matter,

Kindest regards,

Kristan Oppersma


Attached Files Thumbnail(s)
   

.rdk   Marlan V1.rdk (Size: 3.52 MB / Downloads: 90)
.zip   HVS_L1_Test_2.zip (Size: 1.79 KB / Downloads: 61)
#2
That's a quite weird issue, possible it's related to wrist behavior on Path1 trajectory.

I would suggest the following station adjustments:
  • Step 0: To make it easier to work with the trajectory curve, extract it from the HSP object (right click - split, then convert to separate objects).
  1. To be sure of hand configuration and joint angles, use joint type targets (right click on cartesian target - select joint target) for joint movements.
  2. Use the TCP standard setup when the Z axis of the tool is aligned with the milling cutter (e.g. in the same way as for a flange). This will simplify the optimization setup process.
  3. Adjust the curve - I split the curve into parts and added a progressive tilt of 15 degrees for the second part to avoid singularity. I hope this change is acceptable for your production process.
  4. Finalize the Curve Follow project settings with a strict Tool follow path strategy (set the allowable rotation of the tool around the Z axis to 0 degrees).

   

I attached the modified station


Attached Files
.rdk   Marlan V1_md.rdk (Size: 3.52 MB / Downloads: 91)
#3
My best guess is that a combinations of factors would allow RoboDK to understand and simulate the task at hand, but the robot not being able to recreate it. 

looking at the poses the Cobot reaches in your station/simulation it had become clear we cannot do what we wanted to do initially; the 'stuttering' or the intermittent adjusting of the tool cannot be allowed as this finish would not be clean enough, and in the station and simulation you provided the Cobot won't be able to properly adjust the tool into the right orientation for the final stretch of the milling process. 

either i cut the path up into smaller sections so the cobot can assume a totally different pose before continuing or we would try milling without the angle, I can't seem to figure out how to do either of those two things, would you be able to provide me with the steps or documentation on how to do so? I haven't been able to find a video guide with the right info on your guys' channel myself.
#4
You can split the curve at a specific point, for example, by right-clicking on the curve at that point - Split Curve - Split Here:

   

You can then use parts of this curve in multiple Curve Follow projects.
#5
Hello Sergei,

thank you very much for your answer. 

how do I adjust the angle the tool will be at in relation to the surface? I previously did this in the Curve follow project itself but it is now defined within the line itself? 

kind regards.
#6
You can select Tools-Modify curves to edit the curve normals.

You can also use the Curve utilities Add-In:
https://robodk.com/addin/com.robodk.app.curveutilities
#7
(06-05-2024, 09:23 AM)Albert Wrote: You can select Tools-Modify curves to edit the curve normals.

You can also use the Curve utilities Add-In:
https://robodk.com/addin/com.robodk.app.curveutilities

Hello RoboDK,

the solution you guys have provided earlier (the edited station) includes an absolute angle of 15 degrees, you guys must've defined that value somewhere. I want to edit said value. 

doesn't seem that hard, yet it is. 

Regards,

Kristan Oppersma
#8
This value was adjusted using the Tools->Modify Curve

  




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