UR10 Waypoint Issue

Technical Questions Report a Bug
1

Expected Behavior:
Move to position of waypoint

Actual Behavior:
Moves to different position than intended

Robot Serial Number:
2017306290

Affected Version(s):
UR10

2

Maybe you can share more information. Like a snipped of the relevant part of your program/script and your Polyscope version. Otherwise it will be hard for us to guess whats going on :upside_down_face:

3

Is it possible just to teach the way point again?

Always make backups.

Make sure you don’t overwrite your waypoints, maybe use specific names to remove errors

4

Common causes I have seen this happening:

a) The waypoint was taught using the wrong TCP.

b) The waypoint was taught using the correct TCP, but now the tool was changed and the TCP wasn’t updated.

c) The teaching and TCP was correct, but on the Move node you setup a different TCP for the motion.

d) The teaching and TCP was correct, but you either manually set another TCP or ran in your program a “Set (TCP)” command prior to your move, which is set on “Use Active TCP”.

e) The teaching was done in a simulation and this didn’t match the real-life deployment.

f) The point is relative to a feature, and the feature got updated somewhere else.

Possible solutions:

  • Re-teach the waypoint with the correct TCP.
  • Either use the “Set (TCP)” command prior to your move command, or select the correct TCP to be active in your Move node. Do not have Move nodes nested within other moves.
  • If the point is relative to a feature or another point, update the feature and the point.

Hope this helps!