I started simuteniosly to guess and try click and change anything and that's not the way to make it. Please if there is some solution for that I would appreciate to show me how to make these programs work? I can see with naked eye that the robot is absolutely able to complete my move, but for some reason it did not happens. The robot that I've chosen is IRB2400 12.5 kg.
I would like the robot to work only MOVEL command. TASK PERS wobjdata Workobject_1 :=, ],, ]] Operatingmanual-RobotStudio 3HAC032104-001 Technicalreferencemanual-RAPIDoverview 3HAC050947-001 Technicalreferencemanual-RAPIDInstructions,Functionsand 3HAC050917-001 Datatypes Technicalreferencemanual-Systemparameters 3HAC050948-001 Revisions Revision Description - ReleasedwithRobotWare6.0. I don't have in my programs any notification about singularity. I simply tried everything from the book menu, but it doesn't work: Config of the robot, config of target, commands for AxisLock or /Wrist and etc, change position of workobject and etc.Ī square, where the head should rotate under different angles. My programs for test are very simple geometry - a square or triangular roof, both of them I created with quaternions and xyx coordinates. Welding, palletizing, coating, painting, machining. The problem I am right now stuck is rotation around /any/ X axes in particular. 2.2.3 Integrated Kinematic Model of the Robotic Lay-up System. So I use this opportunity and so far would say I really really enjoy it. I am new to ABB robotics, but since COVID19 there is possibility to download their software and learn. But I'm unable to handle the error.My name is Taniq I would like to ask for a help. But if the robot tries to move according to tool to the same position it cannot reach the point because of the 5th axis limit. If the robot moves according to the base, the robot will able to reach the point.Ģ. If the robot is unable to reach the position I want to skip picking the part.ġ. So, if the robot tries to move this position "50050, position out of reach" error pops up and robot stops.
This function unable to check the robot reach with relative to the tool. Movel RelTool ( pick_point, 0,0,200), v1000,fine,suction Ĭalcjoint function is calculating according to the base. IF reach = ERR_ROBLIMIT OR reach = ERR_OUTSIDE_REACH or reach = ERR_WOBJ_MOVING THEN Jointpos := CalcJointT(pick_point, suction \ErrorNumber:= reach) -> calculates the robot reach with respect to base. I'm using reltool function to pick the object. Before moving to the position I need to check whether the robot can able to reach the position or not.
The 3D camera gives the coordinates to the robot.
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