[SylvainP]

Hello,
I'm trying to stream the Fanuc CRX-10ia robot positions from the RoboDK simulation to the same robot in real life, but I think I have a synchronization problem.
I'm using a python program to control the robot by making it do a square. In simulation, all goes well, but when I run it on the robot :
- the real robot skips steps
- and the simulation will sometimes take the position J(0,0,0,0,0,0) after a movement, making linear movements impossible.
I have the impression that the robot can understand the pc's instructions, but not the pc with the robot's feedback.
Best regards,
Sylvain

[Albert]

I assume you are using the driver. Are you using a rounding instruction?
Does it work if you set rounding to -1 or 0?
Can you send us your RoboDK project file?

[SylvainP]

The rounding parameter has no influence.
The problem of the simulation robot going to j(000000) can be compensated for by forcing its position with robot.setJoints(robot.SolveIK(targetpose)), but the solution is temporary.
Communication problems remain, as the simulation robot must wait for the real robot to complete its movement before starting another.

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[Albert]

I got back to you by email. You should be able to attach RoboDK project files of 20 MB or more, let me know if this is not the case.

We can keep our conversation by email though.