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 Approximation through the Home position?

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June 11, 2014, 09:40:19 AM
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gamermarsel


Hallo,
How do I program the "CONT" movement through the point HOME?

My example:
PTP XHOME1
LIN XP1
PTP XHOME C_DIS
PTP XHOME1

I think the problem is that HOME is declared as E6AXIS. And approximation is possible only  for points declared as E6POS. Correct?
How to transform point (as a code in *.src) from E6AXIS to E6POS (in regard of BASE[1] and Tool[1])?
... something with ":" operands?

Thanks

Today at 03:23:09 PM
Reply #1

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June 11, 2014, 10:11:29 AM
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Fubini


Hi,

Quote
I think the problem is that HOME is declared as E6AXIS. And approximation is possible only  for points declared as E6POS. Correct?
No, you should only need a valid $TOOL and $BASE, which probably are not set in your case. Otherwise C_DIS can not be evluated. Only for C_PTP approximation no tool and base are necessary.

Quote
How to transform point (as a code in *.src) from E6AXIS to E6POS (in regard of BASE[1] and Tool[1])?
http://www.robot-forum.com/robotforum/kuka-robot-forum/forward-function-11842/msg48133/#msg48133

$BASE = BASE_DATA[1]
$TOOL = TOOL_DATA[1]
FORWARD(...)


Fubini
« Last Edit: June 11, 2014, 10:13:39 AM by Fubini »

June 11, 2014, 11:23:39 AM
Reply #2
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gamermarsel


I think the problem is that HOME is declared as E6AXIS. And approximation is possible only  for points declared as E6POS. Correct?No, you should only need a valid $TOOL and $BASE, which probably are not set in your case. Otherwise C_DIS can not be evluated. Only for C_PTP approximation no tool and base are necessary.

Quote
How to transform point (as a code in *.src) from E6AXIS to E6POS (in regard of BASE[1] and Tool[1])?
http://www.robot-forum.com/robotforum/kuka-robot-forum/forward-function-11842/msg48133/#msg48133

$BASE = BASE_DATA[1]
$TOOL = TOOL_DATA[1]
FORWARD(...)


Fubini
[/quote]

This is the cut of my prog. - Aprox. through XHOME2 doesn't work. What is wrong?  :help:

;FOLD LIN P_E1 CONT Vel=2.00000 m/s CPDAT_E1 Tool[1]:GRIPPER Base[2]:BASE_CART_1;%{PE}%R 8.3.22,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P_E1, 3:C_DIS C_DIS, 5:2.00000, 7:CPDAT_E1
$BWDSTART=FALSE
LDAT_ACT=LCPDAT_E1
FDAT_ACT=FP_E1
BAS(#CP_PARAMS,2.00000)
LIN XP_E1 C_DIS C_DIS
;ENDFOLD

;FOLD PTP HOME2 CONT Vel=100 % PDAT_H22 Tool[1]:GRIPPER Base[2]:BASE_CART_1;%{PE}%R 8.3.22,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME2, 3:C_DIS, 5:100, 7:PDAT_H22
$BWDSTART=FALSE
PDAT_ACT=PPDAT_H22
FDAT_ACT=FHOME2
BAS(#PTP_PARAMS,100)
PTP XHOME2 C_DIS
;ENDFOLD

TRIGGER WHEN DISTANCE=1 DELAY=0 DO VI_PosAct=0
;FOLD PTP HOME1 Vel=100 % DEFAULT;%{PE}%R 8.3.26,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME1, 3:, 5:100, 7:DEFAULT
$BWDSTART=FALSE
PDAT_ACT=PDEFAULT
FDAT_ACT=FHOME1
BAS(#PTP_PARAMS,100)
PTP XHOME1
;ENDFOLD

June 11, 2014, 11:42:41 AM
Reply #3
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SkyeFire

Global Moderator
I can't say for certain, but it might be that C_DIS will not work for points declared as E6AXIS.  I've never tried using C_DIS with E6AXIS points, only C_PTP.  Before KSS 8.x, the Inline Forms defaulted to assigning PTP motions C_PTP for the CONT tag, but KSS 8.x defaults to C_DIS.  I don't think it's been an issue for anyone so far since points created using the inline forms are by default E6POS -- only the XHOME points are E6AXIS by default, and in normal usage they are either the first or last points in a program, so it's very rare for anyone to try approximating through them.

June 11, 2014, 12:07:28 PM
Reply #4
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Fubini


Hi,

I'm sorry to say it but it does not depend on the E6AXIS as mentioned earlier. I just checked it with the following simple program, which has the same sequence as gamermarsel program:

Code: [Select]
DEF testnoUeb( )
;FOLD INI;%{PE}
  ;FOLD BASISTECH INI
    GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
    INTERRUPT ON 3
    BAS (#INITMOV,0 )
  ;ENDFOLD (BASISTECH INI)
  ;FOLD USER INI
    ;Make your modifications here

  ;ENDFOLD (USER INI)
;ENDFOLD (INI)

;FOLD PTP HOME  Vel= 100 % DEFAULT;%{PE}%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT
$BWDSTART = FALSE
PDAT_ACT=PDEFAULT
FDAT_ACT=FHOME
BAS (#PTP_PARAMS,100 )
$H_POS=XHOME
PTP  XHOME
;ENDFOLD

$APO.CDIS = 100
ptp {a5 -10}
halt

lin_rel {x 100} C_DIS C_DIS
ptp_rel {a1 25} C_DIS
ptp_rel {a2 -15}

;FOLD PTP HOME  Vel= 100 % DEFAULT;%{PE}%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT
$BWDSTART = FALSE
PDAT_ACT=PDEFAULT
FDAT_ACT=FHOME
BAS (#PTP_PARAMS,100 )
$H_POS=XHOME
PTP  XHOME
;ENDFOLD

END

In both cases the approximation is done (See attachment, first the program was executed with $PRO_MODE=#GO then with $PRO_MODE=MSTEP to picture the path with and without approximation). Hence:

What are your values of $APO when the approximation is left out?
Does the robot stop program execution when $STOPNOAPROX is set to true?
In T1/T2 mode are there any "approximation not possible" messages (these messages are filtered in AUT/EXT). If so what message numbers are related to them?
Do you have any additional axes? What is the related $APO.cptp value for them?
Do you have a high accuracy robot?


Fubini
« Last Edit: June 11, 2014, 12:17:02 PM by Fubini »

June 12, 2014, 11:51:28 AM
Reply #5
Offline

SkyeFire

Global Moderator
Thanks for testing that, Fubini.  Always nice to have hard experimental data.


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