Hello everyone,
As an attempt to stop the A4 axis from unwinding itself every time the TCP goes over the center of the working area I changed the software limit switch on A4, increasing it to +270 and -270. However, now when the TCP goes from the left side of the working area to the right side it stops and gives me a gear torque error. I have also tried setting A4 to be limitless, by changing its axis type from 3 to 5 (endlos), to no avail, its either gear torque error with increased software limits, or the unwinding behaviour..
To give context to the problem I am programming a soft real time application where the robot follows my hand around by using a kinect on the tcp.
There is a PTP_REL command inside of an endless for loop that updates the position. Everything works fine until that center area is crossed and the A4 tries to unwind itself.
Any suggestions?