[Nox]

Hi, i'm working on a simulation with a KUKA KR210 L150-2 and I have a lot of troubles to understand the MoveC function, I made a simple script to go from Target1 to Target2, but I don't have more options (like center point) so the robot just does whatever he wants...

code: robot.MoveC(tarTarget1,tarTarget2)

If I have the robot in the Target1 position i get this Path:



If I have the robot in the Target2 position (this is really weird, because after Target1, it goes really fast):


If I have the robot in any other position I understand that it will try to make a circular movement by touching the 2 targets, but is A RANDOM circle, I have no control over this...



Is there any other options for this movement? or what is the best way to master it correctly?
Thanks for reading, have a good day :)

[Jeremy]

Hi Nox, 

The thing you have to understand here is that MoveC use 3 points : The 2 you selected in the MoveC and the current position of the robot has a starting point. 
In order to have a constant circular path, you need to have a constant starting point. 

Add a MoveJ to a target (Target0 for example) before the MoveC instruction. That should help you get started. 

Jeremy

[Nox]

Thanks for your reply Jeremy,
I was thinking that... So I will have to "draw" a circle with the starting point and the 2 points that are in the "path" in order to get the circle I want...
But anyways the second movement is somehow erratic, what's the explanation of this?

[Jeremy]

Hi Nox, 

I'm not sure to understand your last message about erratic path. The only thing I can see is that you can't do more than half of a circle with one MoveC. If you want to do a full circle, you need to use two MoveC one after the other. 

You can send more screen shot or a RDK file if you want more explanation. 

Jeremy

[Nox]

Hi Jeremy,
so that we can be clear... the MoveC function works with 3 points: your actual position, then goes through target1 and then target2 to complete a circular path... is this right?

in the second screenshot I say "erratic movement" because if you're standing on the target2 and try to do the MoveC, the robot goes from target2 to target1 and then to a random place (and from the target1 to that random place it goes really fast)

[Jeremy]

Hi Nox, 

You are right about the MoveC instruction, you need three targets to create your circular path. 

This screenshot show you the proper way of using a MoveC. Here, I created a 250 mm radius half circle. See how I used the MoveJ to move my robot to a known position before using the MoveC.
   


For your erratic motion, you can't be at a starting position that is one of the positions used in the MoveC. You need three different positions. 

Jeremy

[Nox]

Yes, I understand now, thank you Jeremy!