Comments (2)
Wow @wsvdyk, that was some comprehensive testing... thanks a lot!
I was reviewing the fix, and it won't work. The problem with your solution is:
- You issue
AxesTo(0,0,0,0,90,0);
- You
AttachTool(...);
- At this point, and because of the fix, Machina believes the robot is at the previous position before the AxesTo, in your example
[300, 300, 400]...
. This is not correct, as that location depends on the TCP position afterAxesTo()
, which also depends on the make/model/size of the robot, all variables that Machina doesn't know...
This problem is a consequence of a larger limitation that Machina has currently which relates to switching between absolute/relative actions and cartesian/configuration spaces. I am going to write about it here: LINK TBWritten.
So I would strongly recommend not to apply your fix, as it will result in unpredictable behavior. A solution to your problem will be to always issue a TransformTo
before attaching a tool.
from machina.net.
Added explanation of the origin of the problem on issue #11
from machina.net.
Related Issues (14)
- Switching between absolute/relative Actions and cartesian/configuration spaces
- Added explanation of the origin of the problem on issue #11
- How to use "Custom Code" HOT 3
- Hi Jose 👋🏾 HOT 6
- BRobot could not be found HOT 2
- Online programming in KUKA HOT 3
- ConnectionTest ERROR (kuka-online)
- Close to Singularity Error HOT 1
- RoboDk Extruder function HOT 1
- Not able to connect to RobotStudio with VS 2017 HOT 4
- UR: Motion doesn't interpolate on targets with same TCP position but different orientation. HOT 2
- Machina could not be found HOT 2
- want to creating new action HOT 5
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from machina.net.