HOW TO USE BASE WITH VW KUKA?

[Wilson Li]

I Have a job in VW bodyshop.
The problem is my simulation guy off me a offline program which like the noemal kuka (use tcp and base togather)
but from the command of VW kuka I only can found the TCP but no base.
How can I do?
Somebody can help?!

[bipinpaul]

Hi wilson

This is paul man.

Linking of Base and tool in VKRC is bit different.

in the config.dat file there is a variable called   $adv_tool[1.......100] = Standard, Tool_BASE

for example in the PTP line if u want to use tool1 and no base set the avd_tool 1 to standard.ok

if you want to use tool1 to base1 then set  avd_tool 1 to Tool_base
it will automatically link ur tool1 to base1

note! as far as i know u cannot link tool 1 to base 2....it will be always too1 to base1  ...or tool 2 to base2...if u use the same base for tool 2 copy the base 1 value to base 2 and set adv_tool 2 to tool_base. Hope this helps

regards
paul

[PIF]

In VW bodyshop exist VWStandart.

You can use 16 Tool positions, but NEVER teach the some for robot tool (gripper) and fix tool (welding gun on floor). First must be teach tool, second external tool.

Bigest problem is Load Data. I have application robot with gripper and 2 external gluing guns (Wzk2 and 4). I made load determination with Wzk7 (empty gripper), Wzk8 (right part on gripper) and Wzk9 (left part on gripper). Up to here is all ok. First problem is I need write LOAD_DATA[8] and [9] manualy to LOAD_DATA[2] and [4]. But what data is corect? If you look to vw.src, You can find some rutite for this idiot system. I have analyse from "VW Specialist". Corect is make external tool 2 and 4 for right part (LOAD_DATA[8]) and external tool 3 and 5 for left part (LOAD_DATA[9]).