Linked waypoint intermittently changes when referenced multiple times in program

Technical Questions Report a Bug
1

I’ve experienced this issue intermittently and wonder if it is a known issue, or what could be causing this to occur. This is on URSoftware version 5.3.1.64192.

When a program is opened in manual mode to edit, the position of a waypoint that is referenced multiple times in the program occasionally changes dramatically for a single instance of that waypoint. If I run the program after this, the robot really will try to move to the changed position, usually resulting in a crash. It is worth noting that this does not happen randomly while the job is running in automatic mode—the change only occurs when the program is opened to edit.

This doesn’t happen all the time, and the first reference to the waypoint is always unaffected (I think). Not all later references are always affected, just one, apparently at random. I’ve experienced this on several occasions and it is not limited to one program or one waypoint. Unlinking the waypoint and reselecting it from the dropdown menu does not correct the posture. It can be fixed easily by jogging to the first instance of the waypoint, and re-setting the erroneous instance waypoint to the correct posture.

The pictures below are from the last time I ran into this. Note both move commands reference the same waypoint, and the posture of the second move command has been changed dramatically.

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2

It looks like it’s somehow getting a different Feature offset. I’m normally not one to really expect updating Polyscope to fix anything, but holy cow 5.3.1?

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You’re aaaaaaaall the way down there dude. You have to do incremental upgrades I think because it’s so old. I’d say at this point there’s a good chance UR has fixed whatever bug you’re encountering here.

3

Yes, I’m sure it has not been updated since the original installation. I’ll update when time permits and assume that fixes the issue, and will update this thread if it does not. Thanks!

4

Pay attention to the update procedure. Like I mentioned, your version is old enough that you have to incrementally install upgrades and power up the servos until version 5.5.1 I think

5

We have 94 UR10e’s in our fleet and I can speak from first hand experience that sooooo many things have been fixed/improved over the course of that many updates and it is well worth the effort. @eric.feldmann is correct that you need two incremental updates to 5.5 (not forgetting to power up the robot after each update to update joint firmware) and then you can jump from 5.5 directly to 5.26.