TOUCHUP of points which doesnt have proper form

[jamir]

Hello everybody,

I have a little problem. In past months in our company we began to use one CAM software to generate difficult trajectories for Kuka robots, it works quite ok, but there is one problem. The trajectory is generated in a form that is different than the one generated through Kuka interface.

after init, the generated points are defined as below:

Code:

; set base, tool and ipo
$BASE={X 28.81700,Y 1089.00500,Z 700.41900,A 0.00230,B 0.00150,C 0.00280}
$TOOL={X -102.85800,Y 193.43100,Z 172.92200,A 26.59000,B 3.42000,C 163.45000}
$IPO_MODE = #BASE
; some movements
PTP  {A1 -85.00000,A2 -78.00000,A3 86.00000,A4 -162.00000,A5 -88.00000,A6 130.00000}
PTP  {X 170.67361,Y 110.78396,Z -47.81914,A 173.49395,B 10.47934,C 6.50605,S 6,T 27} C_PTP
LIN  {X 170.67361,Y 110.78396,Z -67.81914,A 173.49395,B 10.47934,C 6.50605} C_DIS
; we change a tool
$TOOL={X 102.85800,Y 43.43100,Z 172.92200,A 26.59000,B 3.42000,C 163.45000}
; and another movement
LIN  {X 170.67361,Y 110.78396,Z -67.81914,A 173.49395,B 10.47934,C 6.50605} C_DIS

the problem is that these points are not possible to touchup (using KR16, KRC v5.5.7) and I am quite sure, that i worked with some older robot where it was possible

if you know about any way how to make touch up work, please let me know
thank you very much for any advices
jamir

PS: I know I can make a converter, but this way is much more difficult so I would like to avoid it

[mookie]

I believe that usertech gave the abilities to touch those points up.

[potis]

are all your movements not possible? if the lin are ok and PTP not then maybe change the T bit so that the robot can turn in the correct direction.

[mookie]

it sounds like the positions are ok, but he cant rerecord the positions

[potis]

then maybe the user level is low and no modification is permitted. try in a higher level.

[SkyeFire]

No, the problem is that the TouchUp button triggers a system module that looks for a valid Inline Form.  A "raw" KRL command that is simply PTP POINT1 without the "framing" of the Inline Form causes an "Unknown Module" error.  This is the same error that you get if you try, for example, using the TouchUp button on an Output Inline Form.

I can't remember if this was always the case or not.  Our general practice has always been to arrange the OLP generation software to frame all of its KRL code in properly-formatted Inline Forms.

[jamir]

yep so I have to reformat the output. thank you for your opinions

[wes_mcgee]

Yeah I think that was the right answer. In fact (and maybe this is what you are saying), I would think you would have to use .dat files in addition to the .src files, similar to when you create a new module inline. We use code that looks very similar to that, and it can't be touched up.

[mookie]

Im telling you that allthough our resident expert is sitting next to me, it seemed that the touchup button does work when experttech is installed.