Good day everyone!
Could I ask you to help me solve the following problem.
In my application a have to programm two robots of series BX300L. At the moment I am doing this in K-Roset. In one function the robots must work in cooperative motion. As far as I know there is no way to test cooperative motion in K-Roset for the named robot type. Also after studying the manuals for cooperative motion I found that only linear interpolation and circular interpolation can be used, i.e. no joint movements. So I tryed to write a code just for one robot using only linear and circular interpolations and test it individual in K-Roset. In one part of the code the robot must rotate a workpiece 180 degrees. For this purpose I used circular interpolation and got an error E6007, what's related to the singularity.
A short video with the required movements and appropriate code are attached in the file below (E6007.zip). With a purpose how it has to be I wrote a code using joint movements to avoid singularity and commands DWRIST and UWRIST to change the configuraiton:
In case someone has met with a similar situation, I would be grateful if you would share your experience.
Thank you in advance for your information!