Summary
We recently upgraded our UR10e software from 5.6.0 to 5.8.2 but shortly afterwards we started bumping into one new error:
We issue a stopl(10) command after failing to provide the next target on time during a blended motion. It is basically something like this:
movel(p1, a=2.5, v=0.3)
movel(p2, a=7.0, v=1.0, r=0.12)
movel(p3, a=7.0, v=1.0, r=0.1)
stopl(10)
Error code
2020-06-29 14:37:08.531 :: C0A0:10 :: singularity:stopl unable to generate valid setpoint: :: ::
The code is C0A and according to the Service Manual it is supposed to indicate No error. Also, it doesn’t seem like an actual singularity.
TCP configuration & joint limits
Reproducible with URSim
Configure the TCP position and run the broken_move.urp script. The error will always be triggered with 5.8.0 and 5.8.2 versions:
On the contrary, the error doesn’t appear with 5.6.0:
Questions
-
Was there any changes in the logic behind
stoplormovel?
The Release Notes only mentions a fix in the algorithm for blendedmovels. -
Do you have any recommendations on how to avoid this error?
Ex: Maximum/minimum motion profiles for UR10e, blending radii, configurations.
broken_motion.zip (2.5 MB)
Hello David,
I have already answered your question on Tech Support email, but for these looking for a solution: problem seems to be caused by extremely high acceleration, what in connection to blend radius and even more extreme deceleration cause given warning to occur. I have tested presented program in URSim with changed acc and dec values for few hours and problem doesn’t occur, as it was earlier (every few cycles).
Thanks again for all the help Karol!
I will modify and validate the motion profiles before attempting to upgrade the software version again.