09-22-2023, 10:01 PM
I use Sprutcam to generate cam toolpaths, export SRC files, and filter them through a calibrated RoboDK cell.
I'm often unable to filter programs without a clear reason. Occasionally it works fine, occasionally it does not.
Here's an example:
I have a toolpath that is just roughing out an area. Robot drops down to the start area with a MoveJ function, then completes it with MoveL commands.
If I run this program on the robot, I have no problems. If I filter it in RoboDK first, it says "failed to filter":
The problem seems to be that in the SRC file, I have E1 called out to rotate to -52deg in the first line, then not afterward. So it brings the arm and E1 to the correct angle, but at the very first MoveL it forgets it's using a kinematic frame and wants to approach from a different angle. I tried adding {E1 -52} to the end of the failing lines, but it ignores that and still fails the first MoveL command as well as still trying to approach from the incorrect angle.
I don't know where to go from here to solve this, the code just says "failed to filter, check joint limits and singularities" which isn't the actual problem.. this works just fine for a while, until it gets an attitude. Why is it suddenly ignoring the kinematic frame? Is there any more info on what is causing the failure to filter?
I've attached my RDK file, the SRC file, and the failed filtered file. I was adjusting the angle from -48 to -52deg to try to get it to work, so they might slightly mismatch.
I'm often unable to filter programs without a clear reason. Occasionally it works fine, occasionally it does not.
Here's an example:
I have a toolpath that is just roughing out an area. Robot drops down to the start area with a MoveJ function, then completes it with MoveL commands.
If I run this program on the robot, I have no problems. If I filter it in RoboDK first, it says "failed to filter":
The problem seems to be that in the SRC file, I have E1 called out to rotate to -52deg in the first line, then not afterward. So it brings the arm and E1 to the correct angle, but at the very first MoveL it forgets it's using a kinematic frame and wants to approach from a different angle. I tried adding {E1 -52} to the end of the failing lines, but it ignores that and still fails the first MoveL command as well as still trying to approach from the incorrect angle.
I don't know where to go from here to solve this, the code just says "failed to filter, check joint limits and singularities" which isn't the actual problem.. this works just fine for a while, until it gets an attitude. Why is it suddenly ignoring the kinematic frame? Is there any more info on what is causing the failure to filter?
I've attached my RDK file, the SRC file, and the failed filtered file. I was adjusting the angle from -48 to -52deg to try to get it to work, so they might slightly mismatch.