Wrist Joint and RTCP

    Hello guys !


    I want to setup a glue pump for a gripper robot.


    The thing is that in the trajectory i NEED to use a Wrist Joint movement in linear (wjnt) and also send the TCP speed with (RTCP) comand.


    The problem is that the comands are not compatible, don`t know why.


    Any idea on how to solve the issue? :love029:

    Why do you need wrist joint? Are you running through singularity?


    You might have to break out the section of the path that needs wrist joint into its own program and run it without RTCP active. Would probably be best to set a TCP near this section of path so the TCP speed output remains relative accurate.


    Another option, assuming it is singularity causing the issue, is to add a mechanical wedgebetween the EOAT and the faceplate. The wedge would kick the path out of singularity.

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    Check out my example Fanuc Ethernet/IP Explicit Messaging program here!

    Yes , the cause is the singularity.


    Now it works with RTCP WJNT rtcp.


    The path looks something like ====o---o==== . I spoke with the guy that integrates the glue pump and he said that will increase the volume in the area, but the dots at the beginning and the end will still be there.
    I was just looking for a bypass for the compatibility of WJOINT and RTCP.


    We are still integrating the line and i don`t know how this will evolve .


    How can i set a TCP without destroying the trajectory? ( The standard doesn`t allow more than one frame per trajectory)

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