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Targets are not correct when I send the program to the UR robot

#1
I've been programming a UR10e robot with roboDK. When i simulate the movement in robodk, the robot follows the correct path, even when i connect the robot from robodk and run the program it follows the correct path. But when i send the code to the robot and run, the for some liner movements its follows a curved path and the targets are all messed up. What to do? Cuz I have previously used the same robot with the same attachments in another station and programmed with robodk, it worked perfectly.


.rdk   Station_machining_V3_python.rdk (Size: 13.1 MB / Downloads: 162)
#2
It looks like you are using a customized version of the Universal Robots post processor. Can you provide it? We can better take a look.

Or can you try generating the program using the default UR post processors (called Universal Robots or Universal Robots URP) and check if you still have the same issue?
#3
Thank you for the reply. I have attached the post processor we are using. the differences in targets completely different. Also I have tried placing everything on the station preciously as i have placed on the workbench. But if i did that then the differences while executing program on the robot is around 20 - 25 mm and the robot travel at an angle of 5 degree.

Also the difference can be seen clearly in the G_Nordbo program and R_Nordbo. G_Nordbo is to pickup a tool and R_Nordbo is to drop off the tool which is just created by reversing the G_Nordbo program. While running R_Nordbo the robot perfoms fine, but in G_Nordbo especially between these three targets nordbo_SS, nordbo_SS_lock, nordbo_SS_retract, the robot has to travel in a straight line at the same level. But the robot travels in a 4-5 degree in x axis and dips by about 20 - 25mm.


Attached Files
.py   Universal_Robots_URP_Janasi.py (Size: 2.96 KB / Downloads: 141)
#4
The issue is probably related to joint movements and the real kinematics not matching RoboDK.

I recommend you to follow this procedure to import the robot kinematics from the Universal Robots controller to RoboDK:
https://robodk.com/doc/en/Robots-Univers...Kinematics
  




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