MoveL issue

Robot Controller
1

I have a MoveL issue, which I am unsure how to solve.

Basically I do the following to reorient the tool:

robtargetTemp := CRobT (Tool:=tRapProgram WObj:=wobjRapProgram);
robtargetTemp.rot := FinalOrientation;
MoveL robtargetTemp,[100.00,20,200,200],fine,tRapProgramWObj:=wobjRapProgram;

It seems like the rotation is completely ignored, causing a nice real world collision, nothing broken just scratched though :wink:

is there a nice way to force the rotation to be performed.

If i have a single line with a real motion involved then things seems fine ( provided X != same as current position x.
robtargetTemp.trans.x := X;

Best Regards

Btw. Can anybody recommend somewhere to the 50 ml of ABB orange :stuck_out_tongue_winking_eye:

2

I have had some strange issues using CRobT. Sometimes it is executed quite a distance ahead of the robot motion so its not actually going to the point you expect. Can help to put a stop point before it just to test if that might be your issue.

3

The preceding motion was a MoveL with “fine”

Quote from the manual:

VAR robtarget p1;MoveL *, v500, fine Inpos := inpos50, tool1;p1 := CRobT(Tool:=tool1 WObj:=wobj0);
“Note that the robot is standing still before the position is read and calculated. This is achieved by using the stop point fine within position accuracy inpos50 in the preceding movement instruction.”

I have no Inpos instruction in my MoveL - so I will go try that out.