Hi,
I have problems with singularity on Bin picking cell. The Vision system is giving me location of the part (FRAME type information) and after i get the info that part is ready for picking i have PTP move 200mm above the location. Then i have LIN move to the point of picking.
I know that is LIN move problem for singularity and i already have set $CP_VEL_TYPE to #VAR_ALL. But is it possible that the robot chose another path that is not near singularity or what to use that resolve the problem?
CODE:
Code
; PTP GIB 200mm NAD ZABOJ
;FOLD PTP NAD_POBIRANJE_IZ_PRVE T(1) B(0) C_PTP C_DIS
BAS(#TOOL,1) ; POBIRANJE ODPRE`KA Z MAGNETOM (1 magnet)
BAS(#BASE,0)
NAD_POBIRANJE_IZ_PRVE=SCAN_LOC[1]
NAD_POBIRANJE_IZ_PRVE.Z=NAD_POBIRANJE_IZ_PRVE.Z+200
PTP NAD_POBIRANJE_IZ_PRVE C_PTP C_DIS
;ENDFOLD
; LIN GIB DO KOSA KI GA BOMO POBRALI
;FOLD LIN SCAN_LOC[1] T(1) B(0)
BAS(#TOOL,1) ; POBIRANJE ODPRE`KA Z MAGNETOM (1 magnet)
BAS(#BASE,0)
LIN SCAN_LOC[1]
;ENDFOLD
; UKAZ ZA PRIJEM KOSA
ODPRESEK_MAG(#ON)
WAIT SEC 0.2
CONTINUE
WAIT FOR I_PRIJEL_MAG
Display More
In the attach is picture where the robot is in singularity.
ROBOT: KR16 1610mm
KRC: KRC4 standart
KSS: v8.3.17
Thanks for reply.
Best regards