Inconsistent points and unintended robot movement

Robot Programming
1

Hello,

To preface this, I am relatively new to Visual Components, and that is the first time I work with the program tab so these issues might have simple solutions that I am unaware of.

I am having some problems with a robot program that I am building. The biggest issue I am running into is that when I jog the robot and set a point, the robot cannot seem to reach that position, despite it being reachable (if we include the robot positioner in the workspace). If I explicitly set points by changing the floor track position, the TCP position does not follow along. If I do set the TCP to be in the same relative position to the robot throughout the track move, the TCP gets ahead of the robot, meaning that to set points, I can only do short movements at a time without changing the TCP giving me an unfaithful representation of the robot’s final position and its TCP location.

I have attached the layout as it is right now. I understand that I am not using the subprograms optimally and I am open to changing those, but for the time being my priority is to get the robot to move as intended.

Thanks for any help!

Simulation_Program.vcmx (3.0 MB)

2

This seems like a problem in the track model. Its servo’s FlangeNode is the root node (see the picture) when it should be the same node where the robot interface is so “RobotBase” in this case. You could try to change that and then unplug the robot and connect it again.

image
image1451Ă—1021 131 KB

Incorrect FlangeNode is typical root cause from sync problems for robot positioners. I can’t say why this is wrong in this model as on eCat model the FlangeNode should be correct.

-k

1 Like
3

Thank you sincerely! I never would’ve thought of looking into the actual model of the track. Everything is working perfectly and very smoothly now as if there was never any problem at all.

Thanks again!

1 Like