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Strange Problem with MOVC FPT command

  • motorobo
  • July 28, 2016 at 1:12 PM
  • Thread is Resolved
  • motorobo
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    • July 28, 2016 at 1:12 PM
    • #1

    Hi All.

    Since some time, I am having strange problem with MOVC FPT for some time now on DX100. I have a double circle with command as follow:

    Code
    [code]		 SET LI000 0
    		*DC
    		'DOUBLE CIRCLE
    		 MOVC P[LB007] PL=LB006
    		 MOVC P[LB008] PL=LB006
    		 MOVC P[LB009] PL=LB006
    		 MOVC P[LB010] PL=LB006
    		 MOVC P[LB007] PL=LB006 FPT
    		 INC LI000
    		 JUMP *DC IF LI000<2

    [/code]

    The problem is, the robot speed is lower between command MOVC P[LB010] PL=LB006 and MOVC P[LB007] PL=LB006 FPT than other section. Value of LB006 is 1.

    The code was working fine earlier. Is it controller or singularity problem?

    Thanks for any input!

  • roboprof
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    • July 28, 2016 at 2:19 PM
    • #2

    Where is the speed being set? On an earlier SPEED command?

  • motorobo
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    • July 28, 2016 at 2:50 PM
    • #3

    Yes, the speed is set at the top of main program using SPEED V= x mm/s. X used 50, 70, 100.

  • roboprof
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    • July 28, 2016 at 3:48 PM
    • #4

    Could be singularity issue. Wondering if the PLs make any difference also. Are the speeds consistent if there are no PL levels? I would check both issues. If U axis and B axis are parallel at any point during the circular moves, and R starts rotating, then I would assume singularity.

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Thread Tag Cloud

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  • Backup
  • calibration
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  • CRX
  • DCS
  • dx100
  • dx200
  • error
  • Ethernet
  • Ethernet IP
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  • I/O
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