Unable to make smooth movements (pose undefined)

Hi!

See attached image

I am trying to recreate the following movement, but after trying all kinds of accuracies 1, 5, 10 (with and without fine), c1move -> c2move, break, tdraw to reverse first I am still unable to get a smooth movement (without stop on the second point). The only thing I get to work is if I have accuracy 1 fine at all 3 points, but I would really like to remove the stop between (because of the accuracy 1 fine) because it is taking too long. Everything I try results in a pose undefined when moving to the second point.

  ; Push boxes to the side to make room for the gripper to go down
  POINT .&PushToSide = TRANS (.PushLength, 0, -DualBoxesZOffs)
  ACCURACY 1 FINE
  ACCEL 100
  SPEED 100
  LMOVE &PickBase + .&PushToSide + .&GripperPos
  
  ;BREAK
  ;TDRAW 0, 5 ; Reverse to allow approximation of next point. Failed attempt
  
  ; I want this point to be a smooth transition without a stop
  POINT .&ReverseTo = TRANS (.PushLength - 20, 0, -(DualBoxesZOffs / 2))
  ACCURACY 1 FINE
  ACCEL 100
  SPEED 100
  LMOVE &PickBase + .&ReverseTo + .&GripperPos
  
  POINT .&DownAndForward = TRANS (.PushLength, 0, 0)
  ACCURACY 1 FINE
  ACCEL 100
  SPEED 100
  LMOVE &PickBase + .&DownAndForward + .&GripperPos

Thanks for any help!

1. E-series

2. Motion type LMOVE as in the snippet, but as stated I have tried C1MOVE-> C2MOVE and also JMOVE

3. Payload is not set. It is running with an empty gripper in this case and does not cause any problems elsewhere

4.

  POINT .&GripperPos = TRANS (0, BoxLength[.BoxType] / 2, 0, 90, 180)
  
  ;
  ; Push boxes to the side (to be able to close the gripper)
  ;

  .PushLength = 70
  ; -DualBoxesZOffs = -37
  
  TOOL SmallBoxTCP + TRANS (,,DualBoxesZOffs)

  ; Push boxes to the side to make room for the gripper to go down
  POINT .&PushToSide = TRANS (.PushLength, 0, -DualBoxesZOffs)
  ACCURACY 1 FINE
  ACCEL 100
  SPEED 100
  LMOVE &PickBase + .&PushToSide + .&GripperPos
  
  ;BREAK
  ;TDRAW 0, 5 ; Reverse to allow approximation of next point. Failed attempt
  
  ; I want this point to be a smooth transition without a stop
  POINT .&ReverseTo = TRANS (.PushLength - 20, 0, -(DualBoxesZOffs / 2))
  ACCURACY 1 FINE
  ACCEL 100
  SPEED 100
  LMOVE &PickBase + .&ReverseTo + .&GripperPos
  
  POINT .&DownAndForward = TRANS (.PushLength, 0, 0)
  ACCURACY 1 FINE
  ACCEL 100
  SPEED 100
  LMOVE &PickBase + .&DownAndForward + .&GripperPos

5. They are prefixed with & because that is the explicit version to state positions according to the manual

6. About 15-20 mm

7. Joint speeds vs. linear speeds?

Robot is of type CP180L-AC01 (Controller type E)

Motion type should be the default (at least not set by program) which should be 1 I think.

Continuous path is on

The & prefix is from K-IDE when pressing "Add > Program...". The various prefixes that are available is displayed when entering an invalid name for a parameter. It shows that transition variables starts with &.

Ah, yes. I use linear speeds for certain operations (eg. searching), but use joint speeds mainly for general speed settings (eg. when mixing JMOVE and LMOVE) because it affects both. I thought of them as as a percent of the speed set on the controller.

Anyway, I figured out that calculations of positions should be done before using them in movement statements. That removed the pose undefined error (at least for C1MOVE and C2MOVE, I did not test for ACCURACY as C1MOVE and C2MOVE did the trick)

Eg.

LMOVE Frame + A

C1MOVE Frame + B

C2MOVE Frame + C

should be written as:

POINT Pos1 = Frame + A

POINT Pos2 = Frame + B

POINT Pos2 = Frame + C

LMOVE Pos1

C1MOVE Pos2

C2MOVE Pos3

Thanks!