Turning in one direction

Adept Cobra s600 and s800 SCARA robots

Turning in one direction

Postby DrRobo » Wed Jul 02, 2014 7:54 am

I am currently using this code to force the rotation in one direction. I recalibrated the robot and now it is not working anymore. Is this the correct way to handle this problem?


Code: Select all
           
SET grip_rot = grip:TRANS(0,0,0,0,0,rot)

            HERE #i.here
            DECOMPOSE i.here[] = #i.here

            i.flags = SOLVE.FLAGS(i.here[])
            SOLVE.ANGLES o.jts[], o.flags, error = grip_rot, i.here[], i.flags

            dir_array[4] = 1
            UNIDIRECT dir_array[1]
            MOVES #PPOINT(o.jts[0],o.jts[1],o.jts[2],o.jts[3])
DrRobo
 
Posts: 14
Joined: Thu Jul 19, 2012 3:15 am

Re: Turning in one direction

Postby KevinS » Wed Jul 02, 2014 5:24 pm

what type of robot are you using?

from the documentation the UNIDIRECT program instruction only works for JTS robots.
http://www1.adept.com/main/KE/Data/v%20plus/V%20Language%20Reference/unidirect_i.html
unidirect.PNG
unidirect.PNG (7.47 KiB) Viewed 14966 times
KevinS
 

Re: Turning in one direction

Postby DrRobo » Thu Jul 03, 2014 5:52 am

It's a Cobra s600.
DrRobo
 
Posts: 14
Joined: Thu Jul 19, 2012 3:15 am

Re: Turning in one direction

Postby DrRobo » Thu Jul 03, 2014 6:13 am

Is there a good practice to check when a rollback occurs?
DrRobo
 
Posts: 14
Joined: Thu Jul 19, 2012 3:15 am

Re: Turning in one direction

Postby KevinS » Thu Jul 03, 2014 12:05 pm

Can you provide some more detail about what you are trying to prevent? what do you mean by rollback?

Joint 4 on a Cobra robot has a valid joint range from -360 degrees to +360 degrees, two complete turns. Moving the robot to precision points (#my.loc, #ppoint, etc...) will always return the joint to the defined value, turning clockwise when moving to a more positive destination value compared to the current joint value, and moving counter clockwise when the destination joint value is more negative than the current joint value.

When moving in Cartesian mode the same roll value can be reached with two different joint values. For example, a roll value of 180 can be reached with a joint value of 0 degrees and 360 degrees.
j4MonitorWhere.PNG
j4MonitorWhere.PNG (7.2 KiB) Viewed 14952 times


When commanding the robot to move using Cartesian locations (my.loc, trans(), etc...) you can control the tool flange from crossing the -180/180 boundary with MULTIPLE or SINGLE motion qualifiers.
http://www1.adept.com/main/KE/DATA/V%20Plus/V%20Language%20Reference/multiple_i.html
http://www1.adept.com/main/KE/DATA/V%20Plus/V%20Language%20Reference/single_i.html
KevinS
 


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