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mpl80 - kinematic error
#1
Exclamation 
Good evening , 
I inform you that in robodk global library there is an error about kinematics management of motoman mpl80 as this is not a 5 axis but a paletizer because one axis (5) is used only in +- 15° for correction in paletization phase . 
Also if you download the datasheet , it explains its mode of operation . 
To confirm , I had a chance to test the same robot , and also the new one pl80 ( yrc1000 controller ) directly on the motosim and it does not have any kind of handling error . 
Does anyone know how to correct it ? 
thank you very much
#2
Do you mean that RoboDK should ignore joint 5?
Could you send us a program generated with your robot controller that includes pulse data and another one with Cartesian data?
#3
(08-05-2022, 12:19 PM)Albert Wrote: Do you mean that RoboDK should ignore joint 5?
Could you send us a program generated with your robot controller that includes pulse data and another one with Cartesian data?
Hello , 
then actually you don't need to have developed a program or instructions , because you only need to insert the robot and move it from the pad to understand that it moves not like a paletizer but like a 5 axis robot , not respecting the work area from motoman datasheet . 
if you insert another MPL model ( categorized as a paletizer ) you will see that the robot's wrist goes straight down keeping the wrist always straight . 
The mpl 80 model should also do the same . 

thank you very much
  




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