Strange issues when jogging with the Cartesian functions
Strange issues with my AR4 mk3. I have checked all wiring and even rewired after my first run in with this issue and it still remains. I am new to all of this. My problem is when I jog using the Cartesian buttons from the HMI it never does what it should. I filtered all the encoder to teensy 1.4 with caps recommended in a earlier post. Sometimes when I go to calibrate I have noticed that the joints (random joints) will slow down more than half way to the switch then back to normal after contacting the switch. I have uploaded a video of the first issue I mentioned. This happens in both 5.0 and 5.1 firmware plus HMI. Any help would be greatly appreciated.
That was exactly the issue. Also when I added Joint 5 I placed the 105 deg in the wrong direction. I guess its best to read and read again. I would have saved myself a bunch of time by not having to rewire if I would have only read closer. I guess my ADHD got the best of me but in the end I have a super robot. Thanks again for such a great robot.
Steve
3 replies
Chris Annin
Hello, from your video it looks like the jogging issues could possibly be a robot singularity issue. Please see this forum post for more details. https://anninrobotics.com/forum/main/comment/ccffe57a-33bd-46bd-99e5-20683887d0de?postId=677bc299e709ec1b55b98ef8 Please verify J5 is not crossing over 0 degrees when jogging or close to 0 when jogging. For example jog J5 to something like 45° and then try jogging again. If you continue to have issues you can also email me for the quickest and most direct assistance, I'm usually able to respond faster this way.