22. Juli 2019, 03:48:57
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 Fanuc - RTCP and WJNT


normal_post Autor Thema:  Fanuc - RTCP and WJNT  (Gelesen 1307 mal)

0 Mitglieder und 1 Gast betrachten dieses Thema.

06. Februar 2019, 20:32:41
Gelesen 1307 mal
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yootommy


Hello guys !

I want to setup a glue pump for a gripper robot.

The thing is that in the trajectory i NEED to use a Wrist Joint movement in linear (wjnt) and also send the TCP speed with (RTCP) comand.

The problem is that the comands are not compatible, don`t know why.

Any idea on how to solve the issue?  :grinser043:
  • gefällt mir    Danke

Heute um 03:48:57
Antwort #1

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Gast

28. Juni 2019, 13:32:52
Antwort #1
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pnsStarter


Hi,
i think the incompatibility is not solveable:
-> the wjnt option is a "hack" to move pseudo linear through singularity ,so the path is "unknown"

Do not use RTCP at those movements is imho the only solution (or hardware modification) for this problem

Best Regards
Andreas
  • gefällt mir    Danke


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