[Tomlogan501]

Hi,
I launch a simple program on the COBOTTA with few linear move and one circular move.
The program runs properly before the circular step.
It stops and doesn't nothing at that step.

On the logs, it seems to have disconnect briefly.

Sending command...

Working...
Not connected
Trying connection 192.168.0.1:5007...
Updating Work=Work0 and Tool=Tool0...
Done!
Ready
Sending command...
Working...


Here is the link to the simulation :https://web.www.sinclairbody.com/lnk/383435233136

Regards,
Thomas.

[Tomlogan501]

I test it on the COBOTTA remote TP
It seems to be an issue with the program generator, it create the command with 2 times the same point

The code :

Code:

[i]Sub Main
[/i]
[i] ' Program generated by RoboDK v5.4.1 for Denso Cobotta on 24/05/2022 10:22:21[/i]
[i] ' Using nominal kinematics.[/i]
[i] Work 3, P(0.000,0.000,0.000,0.000,0.000,0.000)[/i]
[i] ChangeWork 3[/i]
[i] Tool 2, P(114.963,0.989,191.943,0.000,0.000,0.000)[/i]
[i] ChangeTool 2[/i]
[i] MOVE L, @0 P(257.384,149.592,202.744,158.597,-5.618,103.993), Speed=Mps(100.00)[/i]
[i] MOVE L, @0 P(229.361,167.488,197.662,162.318,-5.695,109.027), Speed=Mps(100.00)[/i]
[i] MOVE L, @0 P(257.384,149.592,202.744,158.597,-5.618,103.993), Speed=Mps(100.00)[/i]
[i] MOVE L, @0 P(273.228,169.030,199.885,151.922,1.290,109.484), Speed=Mps(100.00)[/i]
[i] MOVE L, @0 P(257.384,149.592,202.744,158.597,-5.618,103.993), Speed=Mps(100.00)[/i]
[i] MOVE L, @0 P(237.039,168.967,156.510,152.189,16.718,141.788), Speed=Mps(100.00)[/i]
[i] MOVE L, @0 P(257.384,149.592,202.744,158.597,-5.618,103.993), Speed=Mps(100.00)[/i]
[i] MOVE L, @0 P(277.428,177.450,158.229,143.458,20.579,137.538), Speed=Mps(100.00)[/i]
[i] MOVE L, @0 P(257.384,149.592,202.744,158.597,-5.618,103.993), Speed=Mps(100.00)[/i]
[i] MOVE C, P(237.039,168.967,156.510,152.189,16.718,141.788),@0 P(237.039,168.967,156.510,152.189,16.718,141.788), Speed=Mps(100.00)[/i]
[i]End Sub[/i]

Is it related to the DENSO driver ?

[Tomlogan501]

I create a new post processor to get ride of the issue with the MOVE C parameters.
Still it doesn't work for live use on the MOVE C command.

Here I join the post processor (simple version enough to get a good program file)