Hi everyone!
I wrote a function that receives the coordinates of a Point with respect to a defined user Frame and calculates the coordinates of that Point with respect to the base Frame. I move the Robot to the Points using MOV instructions and the Robot moves to the Point but it does not do the Rotation as it should. Also, when I check the current Position of the arm it shows exactly the same coordinates I ordered to move and when I do a very small movement it changes the current coordinates to the real ones. This is what I do:
The function computes the coordinates wrt. to the base frame and they are put to P001
P001 contains the coordinates wrt base Frame, for example X: 153 Y: -650 Z:-389 Rx: 180 Ry:0 Rz:43
MOVJ P001 V=5.0
The robot moves to that point but the orientation is incorrect. Checking the current position it shows exactly the same coordinates I set to P001:
X: 153 Y: -650 Z:-389 Rx: 180 Ry:0 Rz:43
Doing a minimum movement on any of the axes, the current position changes to real position and it can be seen that the angles are not those I sent:
X: 153.03 Y: -650 Z:-389 Rx: 160 Ry:0 Rz:23
Could it be a calibration problem? or anyone has any idea what could be causing this?
Thanks a lot for your help