CGNX_AutoCalib Motion failure

[clope031]

I got a chance to test the CGNX_AutoCalib function today. As I could see, “Move2PointAndSettle” is used to move the robot to different positions during the calibration process and that function finally calls “Move P, targetPos”, which uses PTP interpolation.

Here comes the problem. My start position of the calibration process is as below in the picture. When it reached the last few steps of the calibration, i.e. rotating +/- 15 degrees, I would expect the traveling direction in Rz to be clockwise looking from the top (Rz from -2 to – 17). But instead, it traveled counter-clockwise (a rotation of 345 degrees) and resulted in an error state.

I tried replacing the interpolation method of the “Move” command by linear interpolation and it seemed to solve the problem.

What do you think?

[clope031]

I picked PTP as the interpolation to avoid running into singularity. If Linear moves are preferable we can try to prevent it by using the Singularity Avoidance feature.

We can also edit the targetPos figure to a -3 or -2 which will pick the endFigure that results in the least joint movement.

Let me know if you have other questions.

[clope031]

Added fix on v1.6.24