E1055 Start point position error for circle

    Hello,

    I am trying to do a Lmove when I get the following error "(E1055) Start point position error for circle". The robot is a RD080N. I have a hard time figuring out what the cause of the error is. I have tried to be in contact with kawasaki technical support in Germany, they looked through my backup and recommended turning off the folloing zswitches ZCVMOVE2MOVE.NOBREAK and ZFIX_CVMOVE_NOBREAK. They also said I should try a lower accuracy. I turned off the zswitches and tried to increase the accuracy to 5000 with no luck (I have tried a range of accuracies from 1 to 5000). I am able to move the robot manually (it is a linear movement stright down in the z axis), I have also had some luck writing "do lmove Pos1" manually in the terminal. I cannot find any documentation as to what the error means, and I see no reason the robot should not be able to do the movement. Anyone who can recommend something?

  • Nation February 29, 2024 at 9:33 AM

    Approved the thread.

    Welcome to the forum........... :beerchug:

    It would help if you provide the same information you provided KRG:

    - Backup

    - Description of precisely what you are trying to achieve.

    Your statement regarding 'accuracy of 5000' is 5000mm, so I very much doubt that would assist in anyway shape or form.

    The information you say KRG provided regarding CV suggests you are using conveyor tracking perhaps?

    Again......difficult to provide any further information until we have more details.

    That error relates to the robot being held placed into hold) during the execution of a circular trajectory and when restarting, it lies outside of it's permissible limits to continue and complete the circular motion.

    Does that describe your current situation?

    Also what is the posture of the wrist when this error occurs? (joint angles and/or picture).

    Thank you,

    Yeah I had my doubts about using such a high accuracy. What I meant to tell is I tried a bunch of values. Everything from 1-10, 100, 1000 and even 5000 out of frustraction, so I very much doubted that would be the problem. I think I managed to fix the problem, I moved the robot back to the point I thaught and executed the command "do align". The tool moved ever so slightly, I saved that as the new position, and after that the issue is gone. I am very dumbfounded as to why that would solve it. It is a palletizing robot. I save one point on my pallet and calculate all further positions from that point. The first and second box works well and it is then the third box where things went wrong. The positions is the exact same ast he first 2 boxes with only minor changes to the x and y-axis. If it was an alignment issue would it then not be a problem for all the placements as they all are derived from the same "wrong" alignment? Just asking out of curiosity, as again the problem seems to be solved.

    This is why I asked about the posture of the robot wrist at the point of error as the RD Series is a 4 axis arm with 5 joints (where JT5 is controlled in software to maintain perpendicular orientation).

    Since you write a lot but provide no values or evidence (like you sent to KRG), it would seem a valid assumption that joint 5 posture was incorrect and by carrying out an ALIGN which aligns the Z of the TCP to the nearest parallel axis of the BASE corrected this.

    Glad you got it sorted though............. :top:

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