Allo,
I was working on a KRC1 robot today. I have to come with a 360 degrees rotation routine.
So while I was testing it. I noticed 1 full rotation off the 6th axis (A) is 450 degrees.
Can someone enlighten me as to why?
Thanks!
Allo,
I was working on a KRC1 robot today. I have to come with a 360 degrees rotation routine.
So while I was testing it. I noticed 1 full rotation off the 6th axis (A) is 450 degrees.
Can someone enlighten me as to why?
Thanks!
Do you mean that the $SOFTP_END[6] and/or $SOFTN_END[6] limits were 450deg? That's odd -- usually they are both limited to +/-360deg, unless the axis has been set to Endless mode.
No. Nothing like that. If I read the angular position on monitor screen. It shows 450 total degrees on 1 physical rotation.
Weird.
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That sounds like $RAT_MOT_AX or $RAT_MOT_ENC might somehow be wrong. Which is scary, b/c that would make it impossible for the robot to execute linear motions properly. It might not show up for small moves, though.
If you do a Check Mastering on this axis, does it achieve zero in the correct location?
I'll have to check that data and see. Will post back.
Thanks
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The $rat_not_ax[6]={N -1575,D 22}
$rat_not_enc[6]={N 1,D 3}
Does that look ok?
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Can't say. Would need to have another robot of the same model to compare with. Does this robot make long linear moves correctly? Also, what are $SOFTP_END[6] and $SOFTN_END[6]?
Are you sure you are not reading the encoder count? I've been caught like that before...
Although thinking about it I'm not sure you see it when you monitor the actual position on pre-KRC4 controllers?
Position Monitor. The KRC2 showed the Increments, and KRC4 shows the Motor Degrees. There's also a system variable for encoder Increments, but I can't recall what it is offhand.
I think it moves strangely in rectangular mode. I'll have to check when I get back over at the shop.
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