Hi All,
I have come into inheritance of a UR3. It seems in good condition, however there’s one thing wrong: joint 3 (elbow) is at >180 degrees. This means it can only rotate up to 359 degrees. If I try to go below 180 degrees the wrist joints clash with the base. This limits my possible movements a lot.
How can I go about remedying this?
I have come across this topic that seems to be the same thing, however following the steps of deleing .urcontrol/.last_seen_joint_positions.conf has not changed anything.
Thanks!
Solved - sort of. I spent a lot of time messing around with the .last_seen_joint_positions.conf file, but nothing seemed to work.
Instead, I jogged the joint to ~200 deg (with the arm on), removed the joint cover, manually pressed the brake down and moved the joint through to ~520 deg, and upon turning on the robot arm again and verifying the arm’s pose it assumed the arm was at ~160 deg; fixing my problem.
I would be interested in knowing why manipulating the files via FTP did not work, and I had to resort to surgery.