05-01-2018, 01:23 AM
I believe the error "CIRCULAR_ARC_WITH_INFINITE_RADIUS" can occur on the Universal Robots controller for one of the following reasons (at least):
I would say that if you see this error using a program that you generated with RoboDK, the problem is likely to be a permissive blend radius orrounding radius(3)的理由。一个大融合radius can alter the arc/circle or even make it disappear! (the robot controller will skip it).
For your information, there have been some modifications recently with the default UR post processor that comes with RoboDK to avoid this issue (reason 3). The latest version (file attached) should work better as it is more strict with the blend radius, however, it might show jerky movements. You can just update RoboDK or copy this PY file to:
C:/RoboDK/Posts/Universal_Robots.py
Universal_Robots.py(Size: 30.58 KB / Downloads: 947)
If you still have issues with this post it would be great if you can send a sample project and we can look at a specific case or set of parameters. We look forward to finding the right set of parameters/filters that make it work on the controller under any conditions.
- The arc/circle radius is too large: In that case it is better to replace the circle for a line.
- The circle is too small: Two of the three points that define a circle are too close to each other and creates problems on the robot controller side.
- A large rounding radius (blend radius): The rounding parameter allows the robot to "take shortcuts" (smooth the corners) by a certain radius.
- The speed can have an influence. I believe that moving at higher speeds you are more likely to see this error. This is probably related to the blend radius.
- You may experience different behaviors with different versions of the UR Polyscope.
I would say that if you see this error using a program that you generated with RoboDK, the problem is likely to be a permissive blend radius orrounding radius(3)的理由。一个大融合radius can alter the arc/circle or even make it disappear! (the robot controller will skip it).
For your information, there have been some modifications recently with the default UR post processor that comes with RoboDK to avoid this issue (reason 3). The latest version (file attached) should work better as it is more strict with the blend radius, however, it might show jerky movements. You can just update RoboDK or copy this PY file to:
C:/RoboDK/Posts/Universal_Robots.py
Universal_Robots.py(Size: 30.58 KB / Downloads: 947)
If you still have issues with this post it would be great if you can send a sample project and we can look at a specific case or set of parameters. We look forward to finding the right set of parameters/filters that make it work on the controller under any conditions.