[bakel]

I use Universal Robots URP post processor to cerate robot program to test with real robot. When I transfer URP file to the robot, it shows different joint angles then the robodk simulation points joint angles. But the script files that is created by the post processor shows the correct ones.

Do I miss something?


Script File joints:
set_tcp(p[0.000000, 0.035000, 0.125000, 0.000000, 0.000000, 0.000000])
  movel(p[0.398574, -0.079136, 0.292329, -0.133525, 2.261074, 1.115235],accel_mss,speed_ms,0,0.000)
  movel(p[0.396866, -0.075933, 0.295768, 0.219433, 2.334044, 1.267492],accel_mss,speed_ms,0,0.000)

URP file joints.
<Waypoint type="Fixed" name="Waypoint_1">
              <position joints="2.180265, -1.732463, -4.321540, -1.162447, -0.611588, 0.151527" pose="0.398574, -0.079136, 0.292329, -0.133525, 2.261074, 1.115235"/>
              <poseInFeatureCoordinates pose="0.398574, -0.079136, 0.292329, -0.133525, 2.261074, 1.115235"/>
              <outputFlangePose pose="0.351067, -0.195170, 0.325932, -0.133525, 2.261074, 1.115235"/>
            </Waypoint>
            <Waypoint type="Fixed" name="Waypoint_2">
              <position joints="2.165954, -1.761613, -4.297716, -1.140971, -0.620208, 0.437168" pose="0.396866, -0.075933, 0.295768, 0.219433, 2.334044, 1.267492"/>
              <poseInFeatureCoordinates pose="0.396866, -0.075933, 0.295768, 0.219433, 2.334044, 1.267492"/>
              <outputFlangePose pose="0.340272, -0.189143, 0.324588, 0.219433, 2.334044, 1.267492"/>
            </Waypoint>
          </children>

first point joint angles that seen on the teach pendant:124.71, -99.31, -248.12, -65.04, -34.38, 7.58
robodk values: -23.60, -81.12, -125.07, -47.37, 151.25, 86.92

[Jeremy]

Hi Akel, 

When you say this:

Script File joints:
set_tcp(p[0.000000, 0.035000, 0.125000, 0.000000, 0.000000, 0.000000])
  movel(p[0.398574, -0.079136, 0.292329, -0.133525, 2.261074, 1.115235],accel_mss,speed_ms,0,0.000)
  movel(p[0.396866, -0.075933, 0.295768, 0.219433, 2.334044, 1.267492],accel_mss,speed_ms,0,0.000)

There are no Joints values in this .script file. 
P[0.398574, -0.079136, 0.292329, -0.133525, 2.261074, 1.115235] is for P[X,Y,Z,W,P,R].

How are you creating those movements?
As there is no MoveJ in your program, you are not forcing a specific set of joint configurations, therefore, you can't be sure which joint values you will end up with, just the cartesian position. 

Jeremy

[bakel]

Hi Jeremy,

All positions are MOVEL. It should force the joint values as I set according to the selected joint configuration and teached these points.

BR,

Burçak

[Jeremy]

Hi Burçak, 

 It should force the joint values as I set according to the selected joint configuration and teached these points

Why "it should"?
MoveL does not respect robot configurations, MoveJ does. 
This is why a path should always start with a MoveJ if you want to ensure a specific robot configuration.

Jeremy