Should MoveJ with a workobject on (external axis) positioner ? Its documented taht it wont work with a track.
And even more naive: How to debug this if "jump to target" goes fine and any kind of move fails without an error but just goes to a random point.
Should MoveJ with workobject on positioner ?
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Katrin Schmid -
June 27, 2019 at 11:04 AM -
Thread is marked as Resolved.
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I think you need to elaborate...
That said, MoveJ works just fine with/without workobjects, tracks, positioners... it might not move as you want/expect (it's a MoveJ after all) but it'll definitely work.
Jump to target is not a debug tool, it's more of a lazy mans quick jump if all you care about at the time is seeing the robot at the target and checking joint configurations.
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https://drive.google.com/file/d/1k4zmSr…iew?usp=sharing
It shouts over the target by quite some distance and continues the program (everything is offset from there with no errors).
After resetting the task frame its slightly better but still off the target. I am using tool0 but that shouldnt matter?
I wish I knew how to debug it best. -
One less mystery, I think the target does not display in the correct location