May 27, 2019, 05:27:36 AM
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 problem in coupling and decoupling of external axis

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June 26, 2014, 09:02:20 AM
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mayank


Hello all,

i have mounted axis 7 at the place of axis 6 by opening the robot wrist and now the axis is working ok in asynchronous mode but when i am trying to decouple it at that time it is giving an error that vale inadmissible. but if we run the code seperately whiout moving robot the code is working fine.  :hammer1: this is a kr210 robot with krc4.

plz give sugg. on this if any one has face this type of problem.

Today at 05:27:36 AM
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June 26, 2014, 10:25:40 AM
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SkyeFire

Global Moderator
What command are you using to decouple?

June 26, 2014, 11:51:54 AM
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mayank


DEF mastering_prog( )

INTERRUPT DECL 81 WHEN $in[1]==true DO SS1()

;FOLD INI
  ;FOLD BASISTECH INI
    GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
    INTERRUPT ON 3
    BAS (#INITMOV,0 )
  ;ENDFOLD (BASISTECH INI)
  ;FOLD USER INI
    ;Make your modifications here

  ;ENDFOLD (USER INI)
;ENDFOLD (INI)
interrupt on 81

$async_axis='b0001'
$ov_async=10
asyptp {e1 500}


END

def ss1()
interrupt off 81

IF $ASYNC_STATE==#BUSY THEN
 ASYSTOP 1 ; STOP AXIS E1

 ASYCANCEL 1 ; STOP AXIS E1
else

 ASYSTOP 1 ; STOP AXIS E1

 ASYCANCEL 1 ; STOP AXIS E1
ENDIF


;----Decoupling the axis and setting 0----

$async_ex_ax_decouple='b0001'
wait for $axis_jus.e1==false
$axis_act.e1=0.0


;----coupling the axis-------

$async_ex_ax_decouple='b0000'



i am using this code to run my application
but when i check the value of
$advance it is coming 3 and when i try to put this value as 0 in my program it is not taking it and giving the same error value inadmissible.

 

December 04, 2015, 04:53:21 PM
Reply #3
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THC_RobotUser


Did you ever solve this.  I am trying to do the same thing.  Decouple the external axis, reset axis position to 0.0 and then recouple.  I am getting the error "de-/coupling not allowed for axis E1".  Thanks for your help.

December 06, 2015, 06:47:44 AM
Reply #4
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whitegreen


In my KR16 C2, the following settings works:
1.  $ASYNC_OPT=TRUE                                                in option.dat
2.  $EX_KIN     E1 #NONE   E2 #NONE   (or #EASYS)     in machine.dat
3.   $ASYNC_AXIS = ‘B11’                                             in program


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