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+--- Thread: filtering is causing tool to wildly reorient (/Thread-filtering-is-causing-tool-to-wildly-reorient)
filtering is causing tool to wildly reorient-Karl-03-14-2023
A .src file works fine unfiltered, but when I drag&drop, "filter only", and run the filtered code, it's causing my tool to reorient by almost 180 degrees sometimes and impact the part.
I've been using this method problem-free for a couple months until today when it's destroyed three parts. I can't run a simulation of the code because all my targets are unreachable so I don't know if robodk knows it's screwing up the code.
The "A" rotation is 90 degrees different in this example.
Here are a few lines of functioning code, unfiltered:
Code:
$VEL.CP=0.35
LIN {X -365.644, Y 193.526, Z 809.626, A -169.333, B -87.933, C -98.11} C_DIS
林{800.698 191.299 -416.455 X, Y, Z, -139.053,B -89.531, C -128.387} C_DIS
and here is the same segment of code, filtered:
Code:
$VEL.CP=0.35
LIN {X -364.642,Y 193.278,Z 808.954,A -166.911,B -88.416,C -97.933,E1 50.00000,S 'B010'} C_DIS ; filtered
LIN {X -415.468,Y 191.056,Z 799.983,A -64.725,B -89.685,C -128.930,E1 50.00000,S 'B010'} C_DIS ; filtered
In the attached two files, it's lines 679 and 680.
To verify that the RDK station hasn't changed, I tried a backup of the RDK station from early February and had the exact same result. It's possible that something in Sprutcam changed, but I don't know what would make the filtering change sprutcam's output by an extra 74.328 deg - that doesn't really seem like a significant number. 1.3 radians?
Any ideas what's going on?
-Karl
RE: filtering is causing tool to wildly reorient-Karl-03-15-2023
We're going to try rotate A6 to 90deg and remaster only that joint (at 90°). Right now it's mastered at zero deg. Our other cell is set up this way and has no problems, so we'll try duplicate it to this problematic cell.
RE: filtering is causing tool to wildly reorient-Albert-03-15-2023
I'm sorry to hear you had a crash. There is a strange issue with your Tool 1. For some reason, the tool does not hold a homogeneous pose. This means the orientation part of the pose is broken. You can find this out by following these steps:
- Double click Tool 1
- Select the Copy icon
- Select the Paste icon
I attached the RDK project file with this fix. If you try filtering the program afterwards it should work without issues.
How did you teach your TCP? Did you use a specific add-in or custom script? We can better investigate to prevent this from happening again.
We just updated RoboDK for Windows and you should now see warning messages when you try to filter programs and this issue is detected.
I would still recommend you to use APT files instead. It is more clear for RoboDK to undertsand what Tool and Base frames you are using.
RE: filtering is causing tool to wildly reorient-Karl-03-15-2023
Thanks Albert,
the copy/paste values had the error exactly as you said. I define tools by right clicking the tool, clicking Define, then typing in 8 poses from the robot. If I want to add a tool, I right click a tool and copy/paste it, then right click the new tool and Define it. Maybe that's the problem?
Sprutcam can't export an APT file, I've been in contact with the support there about it. Not sure if it's coming any time soon.
Giving v3 a whirl now!
-Karl
RE: filtering is causing tool to wildly reorient-Albert-03-15-2023
Thank you for your feedback! Let us know if you have any issues.
I believe Sprutcam should be able to export APT files. It should be one of many post processor they probably created for other customers.