Simulation looks good.
In real life during one of the SMOV in the middle of the program. The robot does not have to, but it moves the robot around a lot while the turntable winds to find the next start to weld point and hits the workpiece and setup.
I am not a work right now but I think is is during the point where is shifts the angle to straight up.
Is it because of the SMOV commands? I will have to check but I do not think I have ever seen this with MOV commands.
04-11-2025, 08:42 AM (This post was last modified: 04-11-2025, 09:23 AM by Borgis1.)
I seem to not have known about some of the "features" of SMOV and the way a lay up my random start points are really messing with the robots SMOV.
I can work around this and consider this not a bug anymore.
Just because I wonder and may find a use for this. Is there a way to filter out exaggerated moves (limit by amount of pulses I decide for example) and revert to regular MOV commands.
It looks to me like the robot is trying to switch the configuration, but I could be wrong. Are you working near the ext.axis limit?
We have EXTAXES_USE_SMOVL flagin the Motoman postprocessor:
Code:
# Specify if we want synchronized motion for Linear moves:
# if True (default): Will output: SMOVL C00008 BC00008 V=166.7 +MOVJ EC00008 -> Synchronized motion (for the turntable)
# if False : Will output: MOVL C00008 BC00008 V=166.7 +MOVJ EC00008 VJ=100.00 -> Non synchronized motion (for the turntable)
EXTAXES_USE_SMOVL = False
Also, if you want to filter such movements, it is necessary to modify the MoveL and add_target_cartesian functions
Since you answered I got curious and found something
I do not shift configuration
The robot is nowhere near the limits.
I had yaskawa employee fixing my endless rotation on a couple of robots, and I calibrated them together to be able to use SMOV.
When running with pulse I had no problem up until this crash.
Fast forward a weekend with some pondering
I got in a job where I want to use user frames and I try to find the in's and out's of manually setting the customers needs for angles. Usually I go from Fusion or more often grasshopper to robodk to robot. I need a bit more advanced path layup and want to go directly from grasshopper. This works very well on some other robots. But this one robot with SMOV is NOT.
So I track the fault down to tool calibration and robodk which I use for checking / simulating my code.
Toolcalibration in machine Ry is -36.000 degrees.
The machine will bend the B joint if tool calibration Ry is 36.000, but simulation in Robodk is good.
If I set Ry -36.000 in Robodk, the simulation will bend and the machine will be good.
