I am currently programming a UR20 on Polyscope 5.22.2 and I have an issue with it skipping Direction Move Commands in a subprogram. The robot acts like it completed these moves and then proceeds to jump out of this subprogram, back to the main program, and then goes on to the next subprogram.
We tried to upgrading the firmware to 5.25.0, but then ran into motion issues that when in freedrive the UR20 moved by itself and when the elbow/joint 2 moved it made a loud grinding sound like the servo was not tuned correctly.
I have inserted popups as sort of manual wait to see if the program would catch up and not skip lines.
I have sync() commands in the thread we have as well as all subprograms.
If anyone has seen anything like this before help would be greatly appreciated!
Sending us some screenshots of the code would probably help. Usually when I’ve seen the robot skipping lines it’s because a condition I didn’t think was being met was, in fact, being met. Creating debug variables and using breakpoints are my go-to tools for diagnosing these sorts of things.
For example, what are the conditions on the Direction moves that it’s skipping? Travel a certain distance? See a certain force?
I have 2 move until direction commands, both are inside an If statement and the robot will complete one move but not the other.
I talked with a local support guy and he said that there is a bug in Polyscope 5.22 where the direction node does not work and under certain conditions could cause the robot to crash. To solve this we are going to use a variable move and a pos add to see if that works.