Recent Posts

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1
Fanuc Robot Forum / Re: Enabling SW. bypass
« Last post by jstolaruk on Today at 10:36:23 AM »
For a remote hand held kill switch.  I have one but no picture to offer.  Allows a 2nd person to be in the cell while teaching (T1 or T2) and have e-stop control over the robot.  Basically in series with the teach pendant's safety release.
2
KUKA Robot Forum / Re: Approximation between PTP and CP splineblocks
« Last post by NoMad on Today at 09:11:48 AM »
Hello panic mode,

thank you for your info.
the problem is that i am using the same motion planner for ptp spline and cp spline blocks
Example:

Code: [Select]
;PTP Splineblock

PTP_SPLINE
SPTP XP1
SPTP XP2
SPTP XP3
ENDSPLINE C_Spl

<-- I get an advance run stop here

;CP Splineblock

SPLINE
SPL XP11
SPL XP12
SPL XP13
SPL XP14
ENDSPLINE C_SPL



I removed the parameters to not have that fill the whole screen.

Kind regards,
NoMad
3
Fanuc Robot Forum / Re: Hiding or turning off menus by variables
« Last post by bidzej on Today at 08:30:08 AM »
Password Protection software option is what you need I think.
4
Fanuc Robot Forum / Re: making customize panel on TP
« Last post by bidzej on Today at 08:29:06 AM »
You need to create a dedicated .stm file (HTML code), with Fanuc ActiveX controls - they take care of reading, displaying and setting the data, based on their type and parameters.
These ActiveX controls are installed automatically with RoboGuide, but should be also obtainable from Fanuc.
You'll also need a HTML editor to work efficiently - I recommend MS SharePoint Designer 2003 (not newer!).
5
Fanuc Robot Forum / Re: Grease FANUC M-16i
« Last post by Operator01 on Today at 08:10:33 AM »
Thank you all.
 :merci:
6
KUKA Robot Forum / Re: Spline with RoboDK
« Last post by krek on Today at 07:37:21 AM »
Check on the movie, so that you can see what is the issue.

Code: [Select]
DEF SPL ( )
;FOLD INI
BAS (#INITMOV,0 )
;ENDFOLD (INI)

;FOLD STARTPOS
$BWDSTART = FALSE
PDAT_ACT = {VEL 50,ACC 100,APO_DIST 10}
BAS(#PTP_DAT)
FDAT_ACT = {TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE}
BAS (#FRAMES)
BAS (#VEL_PTP,50)
;ENDFOLD


;FOLD SET DEFAULT SPEED
$VEL.CP=0.2
BAS(#VEL_PTP,50)
BAS(#TOOL,0)
BAS(#BASE,0)
;ENDFOLD

;FOLD PTP FIRST POSITION
$BWDSTART = FALSE
PDAT_ACT = {VEL 50,ACC 100,APO_DIST 10}
FDAT_ACT = {TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE}
BAS(#FRAMES)
$ADVANCE = 5
;ENDFOLD

PTP $AXIS_ACT ; skip BCO quickly

SET_PAYLOAD=2.0


; Program generated by RoboDK 3.2.4 for KUKA KR 30 L16
; Using nominal kinematics.
$APO.CPTP = 100.000
$APO.CDIS = 100.000
$BASE = {FRAME: X 1890.000,Y -629.650,Z 955.000,A 89.200,B -0.200,C 0.500}
$TOOL = {FRAME: X 0.000,Y 0.000,Z 405.000,A 0.000,B 0.000,C 0.000}
; Show TCP
$VEL.CP = 0.10000
LIN {X 15.000,Y 72.846,Z 97.966,A 72.066,B 1.552,C 179.498}
LIN {X 5.000,Y 65.000,Z -1.993,A 72.066,B 1.552,C 179.498}
$VEL.CP = 0.15000
SPLINE WITH $VEL.CP=0.15
SPL {X 15.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498}
SPL {X 15.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802}
SPL {X 15.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802}
SPL {X 15.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802}
SPL {X 15.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781}
SPL {X 15.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802}
SPL {X 15.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729}
SPL {X 15.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729}
SPL {X 15.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729}
SPL {X 65.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729}
SPL {X 65.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729}
SPL {X 65.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729}
SPL {X 65.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802}
SPL {X 65.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802}
SPL {X 65.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802}
SPL {X 65.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802}
SPL {X 65.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498}
SPL {X 65.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498}
SPL {X 115.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498}
SPL {X 115.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498}
SPL {X 115.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802}
SPL {X 115.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802}
SPL {X 115.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802}
SPL {X 115.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781}
SPL {X 115.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802}
SPL {X 115.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729}
SPL {X 115.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729}
SPL {X 115.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729}
SPL {X 165.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729}
SPL {X 165.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729}
SPL {X 165.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729}
SPL {X 165.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802}
SPL {X 165.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781}
SPL {X 165.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802}
SPL {X 165.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802}
SPL {X 165.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802}
SPL {X 165.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498}
SPL {X 165.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498}
SPL {X 215.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498}
SPL {X 215.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498}
SPL {X 215.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802}
SPL {X 215.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802}
SPL {X 215.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802}
SPL {X 215.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781}
SPL {X 215.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802}
SPL {X 215.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729}
SPL {X 215.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729}
SPL {X 215.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729}
SPL {X 265.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729}
SPL {X 265.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729}
SPL {X 265.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729}
SPL {X 265.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802}
SPL {X 265.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781}
SPL {X 265.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802}
SPL {X 265.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802}
SPL {X 265.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802}
SPL {X 265.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498}
SPL {X 265.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498}
SPL {X 315.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498}
SPL {X 315.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498}
SPL {X 315.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802}
SPL {X 315.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802}
SPL {X 315.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802}
SPL {X 315.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781}
SPL {X 315.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802}
SPL {X 315.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729}
SPL {X 315.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729}
SPL {X 315.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729}
SPL {X 365.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729}
SPL {X 365.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729}
SPL {X 365.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729}
SPL {X 365.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802}
SPL {X 365.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781}
SPL {X 365.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802}
SPL {X 365.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802}
SPL {X 365.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802}
SPL {X 365.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498}
SPL {X 365.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498}
SPL {X 415.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498}
SPL {X 415.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498}
SPL {X 415.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802}
SPL {X 415.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802}
SPL {X 415.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802}
SPL {X 415.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781}
SPL {X 415.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802}
SPL {X 415.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729}
SPL {X 415.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729}
SPL {X 415.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729}
SPL {X 465.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729}
SPL {X 465.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729}
SPL {X 465.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729}
SPL {X 465.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802}
SPL {X 465.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781}
SPL {X 465.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802}
SPL {X 465.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802}
SPL {X 465.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802}
SPL {X 465.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498}
SPL {X 465.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498}
SPL {X 515.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498}
SPL {X 515.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498}
SPL {X 515.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802}
SPL {X 515.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802}
SPL {X 515.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802}
SPL {X 515.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781}
SPL {X 515.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802}
SPL {X 515.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729}
SPL {X 515.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729}
SPL {X 515.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729}
SPL {X 565.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729}
SPL {X 565.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729}
SPL {X 565.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729}
SPL {X 565.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802}
SPL {X 565.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781}
SPL {X 565.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802}
SPL {X 565.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802}
SPL {X 565.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802}
SPL {X 565.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498}
SPL {X 565.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498}
SPL {X 615.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498}
SPL {X 615.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498}
SPL {X 615.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802}
SPL {X 615.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802}
SPL {X 615.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802}
SPL {X 615.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781}
SPL {X 615.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802}
SPL {X 615.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729}
SPL {X 615.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729}
SPL {X 615.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729}
SPL {X 665.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729}
SPL {X 665.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729}
SPL {X 665.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729}
SPL {X 665.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802}
SPL {X 665.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781}
SPL {X 665.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802}
SPL {X 665.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802}
SPL {X 665.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802}
SPL {X 665.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498}
SPL {X 665.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498}
SPL {X 715.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498}
SPL {X 715.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498}
SPL {X 715.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802}
SPL {X 715.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802}
SPL {X 715.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802}
SPL {X 715.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781}
SPL {X 715.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802}
SPL {X 715.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729}
SPL {X 715.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729}
SPL {X 715.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729}
SPL {X 765.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729}
SPL {X 765.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729}
SPL {X 765.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729}
SPL {X 765.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802}
SPL {X 765.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781}
SPL {X 765.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802}
SPL {X 765.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802}
SPL {X 765.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802}
SPL {X 765.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498}
SPL {X 765.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498}
SPL {X 815.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498}
SPL {X 815.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498}
SPL {X 815.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802}
SPL {X 815.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802}
SPL {X 815.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802}
SPL {X 815.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781}
SPL {X 815.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802}
SPL {X 815.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729}
SPL {X 815.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729}
SPL {X 815.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729}
SPL {X 865.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729}
SPL {X 865.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729}
SPL {X 865.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729}
SPL {X 865.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802}
SPL {X 865.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781}
SPL {X 865.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802}
SPL {X 865.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802}
SPL {X 865.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802}
SPL {X 865.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498}
SPL {X 865.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498}
SPL {X 915.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498}
SPL {X 915.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498}
SPL {X 915.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802}
SPL {X 915.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802}
SPL {X 915.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802}
SPL {X 915.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781}
SPL {X 915.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802}
SPL {X 915.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729}
SPL {X 915.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729}
SPL {X 915.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729}
SPL {X 965.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729}
SPL {X 965.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729}
SPL {X 965.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729}
SPL {X 965.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802}
SPL {X 965.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781}
SPL {X 965.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802}
SPL {X 965.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802}
SPL {X 965.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802}
SPL {X 965.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498}
SPL {X 965.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498}
SPL {X 1015.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498}
SPL {X 1015.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498}
SPL {X 1015.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802}
SPL {X 1015.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802}
SPL {X 1015.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802}
SPL {X 1015.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781}
SPL {X 1015.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802}
SPL {X 1015.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729}
SPL {X 1015.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729}
SPL {X 1015.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729}
SPL {X 1065.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729}
SPL {X 1065.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729}
SPL {X 1065.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729}
SPL {X 1065.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802}
SPL {X 1065.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781}
SPL {X 1065.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802}
SPL {X 1065.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802}
SPL {X 1065.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802}
SPL {X 1065.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498}
SPL {X 1065.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498}
SPL {X 1115.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498}
SPL {X 1115.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498}
SPL {X 1115.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802}
SPL {X 1115.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802}
SPL {X 1115.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802}
SPL {X 1115.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781}
SPL {X 1115.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802}
SPL {X 1115.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729}
SPL {X 1115.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729}
SPL {X 1115.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729}
SPL {X 1180.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729}
SPL {X 1180.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729}
SPL {X 1180.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729}
SPL {X 1180.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802}
SPL {X 1180.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781}
SPL {X 1180.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802}
SPL {X 1180.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802}
SPL {X 1180.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802}
SPL {X 1180.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498}
SPL {X 1180.000,Y 65.000,Z -1.993,A 72.066,B 1.552,C 179.498}
ENDSPLINE
$VEL.CP = 0.10000
LIN {X 1180.000,Y 72.846,Z 97.966,A 72.066,B 1.552,C 179.498}
END
7
ABB Robot Forum / Re: External 7th arm (positioner)
« Last post by PaulSola on Today at 07:37:09 AM »
Maybe somebody has any guide how to connect positioner?
Thanks
8
KUKA LBR IIWA / Re: Editing Spline Path in programming.
« Last post by LBR_Slave on Today at 06:57:20 AM »
This is how I create frames with respect to tool coordinate systems (there may well be more subtle ways and there may well be redundant code- as yet unknown to me):
AbstractFrame absx = startframe.copy();
Transformation trafo = Transformation.oftranslation(0,0,zoffset);
returnframe = new Frame(
                               new Frame(startframe.copyWithRedundancy())
                                                  .transform(absx,trafo)));


the transform method allows specification of the the frame (coordinate system) you transform in (absx)...
9
ABB Robot Forum / Re: World zone
« Last post by simont14 on Today at 06:47:59 AM »
The routine is an event routine proc dp_power_on where i placed defzones. In manu mode, my output dorobothorszone switch value 1 and 0, and when motors are on, the output stay at 1, even if the robot is in the zone
10
Fanuc Robot Forum / Re: Teach pendant HMI/GUI
« Last post by tyh0921 on Today at 06:37:40 AM »
can someone provide the documentation for program HMI to me , thanks
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