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Hello Null Reference,

I tried to implement your suggestion of entering the tool data manually. The steps which i followed to do this are as follows:

Step 1: I entered the mass, center of mass and moment of inertia values of my configured and defined robot tool in the Kuka Sunrise Workbench manually.

Step 2: After Step1, I transferred the local project (project on my PC equipped with Kuka Sunrise Workbench) including the changes made to the tool data to the Kuka Robot Control Unit using the "Project Synchronization" icon.

After performing the above-mentioned steps, I tried to see whether the tool weight is compensated by the robot or not. And the result is the tool weight is not at all compensated when i tried to move the robot by pressing and holding the White button (located below the Green button) after i pressed the Green button.

Can you please let me know, if i did the right procedure as far as manually entering the tool data and the changes made to the tool data being visible in the Kuka SmartPad (Kuka LBR IIWA R14 820 robot's teach pendant) is concerned?

Thanking You,

Hello everyone,
           I am working on integrating ROS and ABB robot IRB1410 which is controlled using irc5 compact controller. I navigated to ABB -> Control Panel -> Configuration -> Topics -> Controller -> Task  in IRC5 controller but the option to add new task is blacked out and I am unable to add any new task. Multitasking is not possible but I really need it.    Can someone help me how to enable    Multitasking and PC interface options in the existing system or create a new system with the mentioned options. I am working on real robot and NOT on simulation. 
               I would be really be really grateful if someone could guide me how to add multitasking option in IRC5 controller. :help: :help:
ABB Robot Forum / Re: load s4c+ backup in IRC5
« Last post by massula on Yesterday at 09:15:45 PM »
Or You can also try RobotStudio 4.

It way more primitive than RobotStudio 6, and it isn't supported by ABB anymore.

But You can create a exactly copy of Your system.

You can download RS 4 here.!JeYnyQSD!-0BHTKQcUCWU2s78J83NyaVDArtpzYWZ053qAMz7vIQ
KUKA Robot Forum / Re: problem kuka kr125/3 krc2 add 7 axis.
« Last post by manolomaravillas on Yesterday at 09:10:36 PM »
Hi, upload a video so you can analyze yourself. You can ask anything,
Couldn't find anything for this in the API. You could however do this yourself, have a thread/background task run every X amount of milliseconds. In the task/thread  save the current cartesian position of your TCP and calculate the cartesian distance to the position of your TCP from the last tick. Now that you have delta time and delta distance you can calculate velocity and acceleration yourself.
KUKA Robot Forum / Re: Finding coordinates?
« Last post by Martin84 on Yesterday at 12:48:35 PM »
;Copy robot position to variable
PosTemp = $POS_ACT

; Search distance
PosTemp.Y = PosTemp.Y-20
Fanuc Robot Forum / Re: Intermittent IMSTP over Ethernet connection
« Last post by RoTaTech on Yesterday at 12:18:42 PM »
I'm going to make an assumption--namely, that you are communicating Ethernet/IP?  I had exactly this problem a while back, and found that the problem was in the Omron configuration, I had the input connection set to Multicast (which is default).  I changed it to point-to-point and the problem went away.

Smurrill - Thanks for the tip. I am trying it right now, and I do not see within the Omron where to change that. I know exactly where I would within an A-B, but not Omron ...
KUKA Robot Forum / Re: Finding coordinates?
« Last post by kadima51 on Yesterday at 11:15:47 AM »
How do use this?  :icon_mrgreen:
KUKA Robot Forum / Re: Finding coordinates?
« Last post by hermann on Yesterday at 10:46:33 AM »
$pos_int during Interrupt otherwise $pos_act
KUKA Robot Forum / Finding coordinates?
« Last post by kadima51 on Yesterday at 10:39:01 AM »
Hello to everyone
I have a KR C2 robot. I move linearly at a point.

I'm stopping the robot when it's a interrupt signal. I want to move 10 cm on the Z axis.

But I can't find the position where he stopped.

How do I find the Z coordinate at any point in the robot?

I am sorry for my bad English. I'm learning new :)


@panic mode
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