JointPosition problem on the elllipseswing 3.7.2 version

URCap Development URCaps SDK
1

Hi developers,

I have a UR10 with 3.7.2 software version and testing the ellipseswing URCap on same version af the ursim.
The Robot movement in “JointPosition” is correct during the ellipseswing, but running it on the real robot. The robot shifts the albue position. See the pictures.

IMG_0373
IMG_03732138×2851 2.15 MB
IMG_0374
IMG_03743024×4032 3.71 MB

Best Jens

2

Hi Jens, It looks like that it has some relations with my added item. What is your TCP setup ?

Check related: Problem with getUserDefinedRobotPosition / joint positions

3

IMG_0376
IMG_0376.jpeg2138×2851 2.59 MB

4

Similar to my mentioned situation indeed ! So, there seems to be a relation to the TCP setup I think.