09-14-2022, 09:00 PM
I keep getting errors randomly every other program. The problem does not appear or disappear by changing programs. The problem shows up and disappears randomly within the same program without any changes to options, targets, reference frames, TCP, Base, or anything else.
最近,我使用Fusion3生成程序60'3 RoboDK plugin's auto setup. The program ran fine, but I wanted to add a command at the very end of the program (which took a long time since I am also experiencing a glitch where the play/pause control bar keeps disappearing). All I did was make a small linear movement straight in the Z+ direction, in order to lift off of the part. Then a few joint motions guiding the robot back to it's home position. The target placements were fine. I made sure to avoid any singularities, and stayed well within joint limits. I got no errors. But what happened was, when I would tell the robot to go back to those targets, the robot would shoot out in an extreme direction and contort itself, positioning the TCP thousands of millimeters away from the set target. I could still see where the freshly positioned target is, and it is where it is supposed to be. But the robot will not go there, even though I used the robot's position to set the target.
It's like some sort of reference data freaks out for a bit, and the software forgets where the tcp, the target, or something is. But it still displays the target location graphically.
I will post screenshots if it happens again.
最近,我使用Fusion3生成程序60'3 RoboDK plugin's auto setup. The program ran fine, but I wanted to add a command at the very end of the program (which took a long time since I am also experiencing a glitch where the play/pause control bar keeps disappearing). All I did was make a small linear movement straight in the Z+ direction, in order to lift off of the part. Then a few joint motions guiding the robot back to it's home position. The target placements were fine. I made sure to avoid any singularities, and stayed well within joint limits. I got no errors. But what happened was, when I would tell the robot to go back to those targets, the robot would shoot out in an extreme direction and contort itself, positioning the TCP thousands of millimeters away from the set target. I could still see where the freshly positioned target is, and it is where it is supposed to be. But the robot will not go there, even though I used the robot's position to set the target.
It's like some sort of reference data freaks out for a bit, and the software forgets where the tcp, the target, or something is. But it still displays the target location graphically.
I will post screenshots if it happens again.