Hi Guys!!!
I am experiencing an issue when trying to move 6DOF using SMC_GroupJog2 and MC_MoveLinearAbsolute, but I don't understand why, when I jog only X or Y, the coordinate I monitor just changes the X or Y value. It's true, but in reality, Joint6 is still running like the video. Am I wrong somewhere?
Many thanks for considering my request.!
Video: https://drive.google.com/drive/folders/1vRHQ3AtTO3mijptqZgn5OcP9pyi527Jm?usp=sharing
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my first guess is that the axis scaling of the last axis (joint 6) is not correct.
It should be confiugured so that one technical unit equals one angular degree. From the video, it rather looks like 1 technical unit is a full revolution of the joint.
(This holds for all rotary axes used with SoftMotion Robotics: they must be scaled so that one technical unit equals one angular degree.)
Best regards,
Georg
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1
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Thank you for your explanation about the axis scaling.
I checked the scaling of Joint6 and corrected it so that one technical unit equals one angular degree.
However, I am now facing another issue.
When I move all axes to zero position and then try to use SMC_GroupJog2 and MC_MoveLinearAbsolute, I receive the error SMC_CP_CONFIGS_DIFFER
I already tried moving each joint manually to different positions before executing the motion command, but the error still appears.
Could you please explain:
What exactly causes SMC_CP_CONFIGS_DIFFER
Thank you very much for your support.
Best regards,
darwin03
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when all joints are 0°, then the 6-axis robot is in a so called singularity. This means that it is in a special position where it cannot move freely in all directions but is restricted by its own construction. For a simple example, imagine a scara robot where the arm is fully stretched. In this position it cannot move freely.
1) CP movements (linear moves, circular moves, cartesian jogging) cannot change the configuration during the movement. Both start- and endpoint must be in the same configuration. This excludes also the edge case that one or both of them are in a singularity.
2) PTP movements can move through singularities and cross configurations without problems.
3) SMC_SetKinConfiguration can be used to set the configuration of the axis group.
Regards,
Georg
If you would like to refer to this comment somewhere else in this project, copy and paste the following link:
Hi Guys!!!
I am experiencing an issue when trying to move 6DOF using SMC_GroupJog2 and MC_MoveLinearAbsolute, but I don't understand why, when I jog only X or Y, the coordinate I monitor just changes the X or Y value. It's true, but in reality, Joint6 is still running like the video. Am I wrong somewhere?
Many thanks for considering my request.!
Video: https://drive.google.com/drive/folders/1vRHQ3AtTO3mijptqZgn5OcP9pyi527Jm?usp=sharing
Dear darwin03,
my first guess is that the axis scaling of the last axis (joint 6) is not correct.
It should be confiugured so that one technical unit equals one angular degree. From the video, it rather looks like 1 technical unit is a full revolution of the joint.
(This holds for all rotary axes used with SoftMotion Robotics: they must be scaled so that one technical unit equals one angular degree.)
Best regards,
Georg
Dear Georg,
Thank you for your explanation about the axis scaling.
I checked the scaling of Joint6 and corrected it so that one technical unit equals one angular degree.
However, I am now facing another issue.
When I move all axes to zero position and then try to use
SMC_GroupJog2andMC_MoveLinearAbsolute, I receive the errorSMC_CP_CONFIGS_DIFFERI already tried moving each joint manually to different positions before executing the motion command, but the error still appears.
Could you please explain:
SMC_CP_CONFIGS_DIFFERThank you very much for your support.
Best regards,
darwin03
Hi darwin03,
when all joints are 0°, then the 6-axis robot is in a so called singularity. This means that it is in a special position where it cannot move freely in all directions but is restricted by its own construction. For a simple example, imagine a scara robot where the arm is fully stretched. In this position it cannot move freely.
You can find a lot of information about robot configurations in the www. As far as CODESYS SoftMotion Robotics is concerned, this page holds the most important links, look for the error SMC_CP_CONFIGS_DIFFER: https://content.helpme-codesys.com/en/CODESYS%20SoftMotion/_sm_robotics_errors.html
The most important rules:
1) CP movements (linear moves, circular moves, cartesian jogging) cannot change the configuration during the movement. Both start- and endpoint must be in the same configuration. This excludes also the edge case that one or both of them are in a singularity.
2) PTP movements can move through singularities and cross configurations without problems.
3) SMC_SetKinConfiguration can be used to set the configuration of the axis group.
Regards,
Georg