May 22, 2019, 01:38:46 PM
Robotforum | Industrial Robots Community

 How to teach multiple home positions

normal_post Author Topic:  How to teach multiple home positions  (Read 1010 times)

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May 11, 2018, 01:34:42 PM
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mandem


I hear this is possible but cant find documentation on how to do it

Setup: KRC4, KR30-3, SmartPAD

Today at 01:38:46 PM
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May 11, 2018, 02:46:31 PM
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panic mode

Global Moderator
Out of box system supports five aux. Home positions.
All are declared in $config.dat


To use them, create new program module and replace HOME with one of HOME1...HOME5 points.
1) http://www.robot-forum.com/robotforum/kuka-robot-forum/read-first/
2) if you want reply about robot, post it in forum
3) read 1 and 2

May 11, 2018, 04:33:24 PM
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mandem



May 22, 2018, 12:28:06 PM
Reply #3
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mandem


Above panic mode details how I can use the 6 home positions in my own modules.

Can someone tell me how I can edit one of the default home positions to be set to the position the robot currently occupies.

e.g. My cursor is currently on home2 in config.dat. In the edit menu I can see no Change --> Touch up option to use to teach the current coordinates.

 

May 22, 2018, 12:54:12 PM
Reply #4
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Mr.E


Create a program, create a ptp and change the name to HOME2, then touch up this point. It will write the X,Y,Z,A,B,C values into config.dat for home2.

Or in display>robot position note the X,Y,Z,A,B,C values and then type them into config.dat (log in as expert).

May 22, 2018, 01:48:46 PM
Reply #5
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panic mode

Global Moderator
are you sure you are using inline form?

May 22, 2018, 01:56:33 PM
Reply #6
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mandem



Thanks! I used your first method successfully.

In reference to your second method.. I saw no way to type the values in manually - would I have to plug in a keyboard to my smartpad, or is there a way to manually bring up the onscreen keyboard in situations when it does not display automatically?


How would I check this?.. and what does it do?

Today at 01:38:46 PM
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May 22, 2018, 02:07:29 PM
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panic mode

Global Moderator
read the manual or take training
inline form instructions are lines of code you insert from COMMANDS menu (commands>Motions>PTP).


for example:
« Last Edit: May 22, 2018, 02:23:39 PM by panic mode »

May 22, 2018, 02:40:12 PM
Reply #8
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mandem



Ahh yeah read that section of the manual just forgot what the term 'inline form' meant.

I was looking for an inline form in the config.dat file.. seems that is not an option

May 22, 2018, 03:26:24 PM
Reply #9
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Mr.E


'Inline forms' are simple KRL, put into a controlled structure so that all parameters for robot program execution are there in the source code. you need to log in as 'expert' to modify .dat or enter any 'non in-line form' stuff into source code, all of which is done free from restriction, it is up to you to ensure that what you do is understandable to the controller. I suggest reading the System Integrator manual as a starting point.

to type into the .dat manually press the button that looks like a pen/stylus which brings up the keyboard?! (left hand side of screen)

May 22, 2018, 06:23:27 PM
Reply #10
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mandem




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