07-21-2023, 12:24 AM
(This post was last modified: 07-21-2023, 12:42 AM byJoseCarlosOrtizHernanez.)
Hello
I'm working with a real Fanuc LR Mate 200iD robot and I simulate it's movements through RoboDK.
I'm generating the .LS program file with RoboDK and then converting the .LS file to .TP file in order to transfer the RoboDK program to the real robot and test its movements.
To demonstrate my issue I generate a simple program that consists of a sequence, It means the robot end-effector is going to point A and then to point B.
I send that simulation to the real robot and the joint's angles associated of the J1,J2,J3,j4,J5, and J6 of my real robot and the simulated robot are both the same, at the point A and at the point B.
However, physically the robot is not exactly in the position which is desired to be, as the simulation. The main goal is to the real robot end effector be exactly as the simulation, which is up of that square area. The real robot goes outside the work area of the robot, but both joint's angle same the same.
First, I associate that problem geometrically, maybe the work cell of my robot has error in the measurement, but I figured out that that the CAD which are on the RoboDK measurements are correct.
I attach here some pictures and files, hope can get a visual understanding.
Thanks
Jose
Here the pictures
Here the pictures of my issue.
Here the RoboDK file.
I'm working with a real Fanuc LR Mate 200iD robot and I simulate it's movements through RoboDK.
I'm generating the .LS program file with RoboDK and then converting the .LS file to .TP file in order to transfer the RoboDK program to the real robot and test its movements.
To demonstrate my issue I generate a simple program that consists of a sequence, It means the robot end-effector is going to point A and then to point B.
I send that simulation to the real robot and the joint's angles associated of the J1,J2,J3,j4,J5, and J6 of my real robot and the simulated robot are both the same, at the point A and at the point B.
However, physically the robot is not exactly in the position which is desired to be, as the simulation. The main goal is to the real robot end effector be exactly as the simulation, which is up of that square area. The real robot goes outside the work area of the robot, but both joint's angle same the same.
First, I associate that problem geometrically, maybe the work cell of my robot has error in the measurement, but I figured out that that the CAD which are on the RoboDK measurements are correct.
I attach here some pictures and files, hope can get a visual understanding.
Thanks
Jose
Here the pictures
Here the pictures of my issue.
Here the RoboDK file.