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nedlecky / AutoGrind

Custom grinding project for Olympus-Controls and Tosoh Quartz
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rect_test on Cylinder 1200 1mm/s oscillation #234

Closed nedlecky closed 2 years ago

nedlecky commented 2 years ago

Robot gets stuck in an oscillation with a funny two-tone whine at 1mm/s. Seems fine at 2mm./2!

Error happens right after first leg of the first grind_rect!

Is this a robot issue, UR-% related, because force is too low... ?????

n=1 speed=2 force=5

move_joint(demo_safe)

cylinder: move_linear(demo_cyl) set_part_geometry(CYLINDER,1200)

size_x = 85 size_y = 100

Lift rects

repeat1c: grind_rect({size_x},{size_y},{n},{speed},{force},0) size_x -= 25 size_y -= 20 jump_gt_zero(size_x,repeat1c)

nedlecky commented 2 years ago

This is corrected by the new imover realtime system.