01-24-2019, 07:10点
I believe that some of the targets are very close to a wrist singularity (when joint 5 is near 0 deg it causes problems with robot arms). RoboDK has a default tolerance of 4 deg to avoid wrist singularity. I recommend you to increase this joint 5 threshold angle if you see such errors in the robot controller.
By increasing this threshold you'll then see these warnings in RoboDK before you generate the program. To prevent these warnings you may have to change the toolpath for targets used forlinear movements(tool orientation, part location, home position).
I attached an example where I changed the home target to be farther from joint 5 at 0 deg.
By increasing this threshold you'll then see these warnings in RoboDK before you generate the program. To prevent these warnings you may have to change the toolpath for targets used forlinear movements(tool orientation, part location, home position).
I attached an example where I changed the home target to be farther from joint 5 at 0 deg.