I am currently learning this stuff on a LR mate small robot. The software I loaded is V3.2 Handling Pro. I have been trying to set up the DCS diagonal inside 1 zone. It errors out no matter what I try. Error code is 1, G1, M0. Wondering if anyone has any ideas.
DCS Cartesian Position Check
-
Mike T -
November 8, 2016 at 4:33 PM -
Thread is marked as Resolved.
-
-
I assume you mean V8.2. V3.2 is really old.
Did you check the 3D view of your zones? You might have the floor of your zone intersecting the robot model.
-
Sad to say, it's the old 3.2 version. I did however check the 3D view, but I was only looking to see if the TCP was outside when it was faulting out. It was inside and looked ok. Thanks for the scoop, I'll check out the floor/robot model deal tonight.
-
I think DCS position check started about rev 7.2.
however
remember the safe side is not safe for the robot to go into. it is safe for a human to be there. so almost always set up your safe zones as diagonal out, not in.
-
I think DCS position check started about rev 7.2.however
remember the safe side is not safe for the robot to go into. it is safe for a human to be there. so almost always set up your safe zones as diagonal out, not in.
Diagonal (safe-side In), or DI, is indeed intended as a space for the robot to be inside of.
What is the size of the zone? From what UserFrame is it referenced?
Diagonal-In is never used to indicate a place where a person is safe to be inside of.
Personnel safety at an Operator Load/Unload Station, in the context of a DCS Cartesian zone, is always a keep-out zone, or a Diagonal-Out with a disabling input to make it conditional (from the light curtain.) -
The V3.2 he mentioned im pretty sure is related to what version of DCS he has, and not the robot's core software version. I looked through some backups of previous robots we've worked on and couldn't find a robot with V3.2, but did find one with V3.1 and it's core software was V8.1, so I wouldn't think V3.2 is a very old version of DCS.
-
Yep, I messed that up. It is DCS 3.2 and Handling Pro 8.2. The UFRAME is 0. Point #1 is recorded at X=613.4, Y=-265.2, Z=206.1 , and Point #2 is recorded at X=169.2, Y=237.8, Z=-286.2. I tried to change the UFRAME to 1, but it would not let me. I have 3 UFRAMES entered in.(0,1,2)
-
What model do you have specified to keep inside the zone? Did you define a user model or are you using the robot model? Your zone is likely being violated by the robot model as Nation stated earlier.
Sent from my VS985 4G using Tapatalk
-
Yes I agree. If the robot body model (-1) is targeted, the zone is too small for the robot to stay inside of. The X values alone show that. This could explain being faulted "no matter what."
Box is too small for a DI [Diagonanal (safe side In)] if the default robot model is targeted.