The path of the real robot is not synchronized with that of the simulated robot in the software simulation area

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Symptom

The simulated path in the Mech-Viz is not synchronized with the actual path of the robot motion. The path planning simulation is successful, but collisions may occur during actual robot motion.

Possible causes

  • The waypoint settings in the robot program are inconsistent with those in the Mech-Viz workflow.

  • Mech-Viz does not send some of the waypoints.

  • The JPs values of the real robot calculated by the robot side based on the received TCP are inconsistent with those planned in the Mech-Viz.

Solutions

If you use Standard Interface or Adapter Communication, please follow these steps for troubleshooting:

  1. Check if the waypoints in the robot program are corresponding to those set in the Mech-Viz.

    • If not, modify the robot program or the workflow in the Mech-Viz to ensure that each waypoint corresponds accurately. Then, check if the symptoms are still present.

      • If not present, the troubleshooting is completed.

      • If still present, proceed to step 2.

  2. Check if the Send Waypoint parameter in Move-Type Step Common Parameters is selected in all move-type steps.

    • If the Send Waypoint parameter is not selected in certain move-type Step, then the corresponding waypoint will not be sent. In that case, you can select the Send Waypoint parameter in the Step or modify the workflow. After ensuring that all waypoints are sent by the Mech-Viz, check again whether the symptoms are still present.

      • If not present, the troubleshooting is completed.

      • If still present, proceed to step 3.

  3. Check if the motion type of waypoints in the robot program is consistent with that in the Mech-Viz.

    • If not, modify the robot program or Motion type in Basic Move Settings of the corresponding Step in the Mech-Viz to ensure that the motion type of each waypoint corresponds accurately. Then, check if the symptoms are still present.

      • If not present, the troubleshooting is completed.

      • If still present, proceed to step 4.

  4. Check if the pose type received by the robot side is TCP. Since one TCP can correspond to multiple sets of different JPs, the JPs values of the real robot calculated by the robot side based on the received TCP might differ from those calculated by the Mech-Viz during path planning.

    • If the pose type received by the robot side is TCP, please modify it into JPs. Please note that using JPs communication may affect the picking accuracy of the robot. Please go through a thorough test to ensure that the accuracy error is within an acceptable range before practical application. Then, check if the symptoms are still present.

      • If not present, the troubleshooting is completed.

      • If still present, please contact Technical Support.

    • If it is not allowed to modify the pose type into JPs on the robot side due to the hardware configuration and on-site environment, then the inconsistency between the path of simulated and real robots cannot be avoided.

If you use Master-Control Communication, please follow these steps for troubleshooting:

  1. Check if the Send Waypoint parameter in Move-Type Step Common Parameters is selected in all move-type steps.

    • If the Send Waypoint parameter is not selected in certain move-type Step, then the corresponding waypoint will not be sent. In that case, you can select the Send Waypoint parameter in the Step or modify the workflow. After ensuring that all waypoints are sent by the Mech-Viz, check again whether the symptoms are still present.

      • If not present, the troubleshooting is completed.

      • If still present, proceed to step 2.

  2. Check if the pose type received by the robot side is TCP. Since one TCP can correspond to multiple sets of different JPs, the JPs values of the real robot calculated by the robot side based on the received TCP might differ from those calculated by the Mech-Viz during path planning.

    • If the pose type received by the robot side is TCP, please modify it into JPs. Please note that using JPs communication may affect the picking accuracy of the robot. Please go through a thorough test to ensure that the accuracy error is within an acceptable range before practical application. Then, check if the symptoms are still present.

      • If not present, the troubleshooting is completed.

      • If still present, please contact Technical Support.

    • If it is not allowed to modify the pose type into JPs on the robot side due to the hardware configuration and on-site environment, then the inconsistency between the path of simulated and real robots cannot be avoided.

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