Programming interface Robot/User

[florian82]

Hi,

I'm a newbie in KUKA programming and I would like to create an interface between the user and the robot (180-2PA).
Indeed, the user should be able to put the height of the box in a variable through this interface.
I'm using a KRC2-2005.

Sorry for my bad English, I'm French...

Best regards,

[mookie]

are there set values for the range of boxes?

i.e.  boxset 1 = 100mm, boxset 2 = 300, etc

[florian82]

Hi!
thanks for your answer^^
we have to depaletize layer by layer, I don't know if this is the answer you were waiting for...

[SkyeFire]

Without creating a new user interface, or programming some complicated message-window stuff, the simplest way to make a variable available is to use MONITOR>VARIABLES>SINGLE, and type in the name of the variable.  If you want to avoid typing in the name, use MONITOR>VARIABLE>GROUP>CONFIG, set up a page of the signals you want to make available, and then in the future MONITOR>VARIABLE>GROUP> will let you see the page and set variable values.

[mookie]

Exactly,

if the box sizes are a constant, then user message windows could be created to prompt the operator, or an Enum could be created to be used for them as well.

if the box sizes are always different, the user messaging prompts can still be done, but may be more of a pain to try to get it to the value you want.

[florian82]

Hi everybody!

thanks for your advice, it's working   
I find this operation a little boring for the user ( a complicated manipulation for a man at user level... )
But yet I will do like this.

I have an other question, Is there a torque limiter on all the 180-2PA ? How can I do to see if there is one on mine ?
If there is one, I would like to know if it will be able to determine the height of the palette...

Thanks for your answers

Regards,

[florian82]

Is it possible to use : $COUP_COMP[N,D] ?
And how use it in my program ?

[SkyeFire]

I have an other question, Is there a torque limiter on all the 180-2PA ? How can I do to see if there is one on mine ?
If there is one, I would like to know if it will be able to determine the height of the palette...

Thanks for your answers

Regards,

There's torque monitoring on every servo.  The collision detection sensitivity is adjustable by altering certain system variables, which can be done from inside your program on the fly.   See the section "collision monitoring" in the configuration manual.

[florian82]

Thanks for your advice!

It's working 


Regards,