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·Posted in ctrlX MOTION

Not able to commisioning Kinematics for a delta robot

Hello,

I'm fairly new to ctrlX platform, but after reading the doucments from the hardware and ctrlX platform/apps, I was able to set everything up and commissioning all axes seperate from each other without any issues.

The next step is using kinematics, but I get this error 0C5604A1 in the web interface, I had read that it has to be with a incorrect configuration of the MCS set. Only I've not set any working areas, as far I'm aware, for commisioning it's not necessary.

I'm working with the following hardware:

  • ctrlX Core X3

  • ctrlX Drives, XCD and XMD

All communication is over EtherCAT. Current motion app version in use is v2.6.10, and I've all licences need to commisioning a delta robot.

Am I missing a configuration part or anything else?

Thanks in advance.

Best reply by CodeShepherd

Sorry for the late reply, lost track of this issue.

The error shown above and in the logbook means, that the current target position is out of reach for your kinematic. As the error is showing up on switching on the transformation it seems that you motors have a position that is resulting a TCP position that is mathematically out of reach of your mechanic.

Is there already a real mechanic added to the motors? Are the absolute positions of the motor encoder set properly?

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COMMISSIONING
CTRLXMOTION
KINEMATICS
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