bug report

[Godsgrav3]

When using the action AxesTo you can no longer attach a tool or do MoveTo. When doing AttachTool the warning message "Attaching tool without TCP values, inconsistent results may follow...?" and when doing MoveTo the warning message "Cannot apply "Move to [300, 300, 400] mm", currently missing TCP orientation to work with...".

This issue can be fixed manually by doing the command TransformTo.

The tool will be attached to the robot. I have tested this with my own targets in RobotStudio.

A possible code fix was found here: GitHub from wsvdyk

With the possible fix implemented on clean source code from the RobotExMachina repo.

quite a few actions that are already present in Machina have been tested with this possible fix, here is a list with all the action and the result with my latest version. Google spreadsheet

[garciadelcastillo]

Wow @wsvdyk, that was some comprehensive testing... thanks a lot!

I was reviewing the fix, and it won't work. The problem with your solution is:

• You issue AxesTo(0,0,0,0,90,0);
• You AttachTool(...);
• At this point, and because of the fix, Machina believes the robot is at the previous position before the AxesTo, in your example [300, 300, 400].... This is not correct, as that location depends on the TCP position after AxesTo(), which also depends on the make/model/size of the robot, all variables that Machina doesn't know...

This problem is a consequence of a larger limitation that Machina has currently which relates to switching between absolute/relative actions and cartesian/configuration spaces. I am going to write about it here: LINK TBWritten.

So I would strongly recommend not to apply your fix, as it will result in unpredictable behavior. A solution to your problem will be to always issue a TransformTo before attaching a tool.

[garciadelcastillo]

Added explanation of the origin of the problem on issue #11

#11