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ChunyangXia avatar ChunyangXia commented on August 15, 2024

And what did you mean with "movement lose control"? E.g. did the robot stop responding to your EGM references?

@jontje Thank you. The robot don't move along the trajectory in program. It move along y axis util security guard stop. The program I used is EGM slider, and I add velocity control code in it, and set PosCorrGain=0 in rapid:

            EgmSpeedRef.Builder s1 = new EgmSpeedRef.Builder();   
            EgmCartesianSpeed.Builder s2 = new EgmCartesianSpeed.Builder();
            s2.AddValue(WeldSpeed);     
            s1.SetCartesians(s2);         
            sensor.SetSpeedRef(s1);

The velocity could vary realtime, but the move trajectory can not be controlled.

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jontje avatar jontje commented on August 15, 2024

@ChunyangXia, aha, I see.

The problem is that you have set that the EGM references should be relative to the wobj0 work object.

I assume that you actually want to use the work object wobjBordN that you have defined in the top of the RAPID module, which is rotated -90 degrees around the z-axis compared to wobj0.

You need to replace this:

EGMActPose egmID1\Tool:=UISpenholder \WObj:=wobj0, posecorTable,EGM_FRAME_WOBJ, posesenTable, EGM_FRAME_WOBJ 
        \x:=egm_minmax_lin1 \y:=egm_minmax_lin1 \z:=egm_minmax_lin1
        \rx:=egm_minmax_rot1 \ry:=egm_minmax_rot1 \rz:=egm_minmax_rot1\LpFilter:=2\Samplerate:=4\MaxSpeedDeviation:= 1000;

With this (notice the \WObj argument):

EGMActPose egmID1\Tool:=UISpenholder \WObj:=wobjBordN, posecorTable,EGM_FRAME_WOBJ, posesenTable, EGM_FRAME_WOBJ 
        \x:=egm_minmax_lin1 \y:=egm_minmax_lin1 \z:=egm_minmax_lin1
        \rx:=egm_minmax_rot1 \ry:=egm_minmax_rot1 \rz:=egm_minmax_rot1\LpFilter:=2\Samplerate:=4\MaxSpeedDeviation:= 1000;

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gavanderhoorn avatar gavanderhoorn commented on August 15, 2024

Closing due to inactivity.

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