Author Topic: How to teach multiple home positions  (Read 456 times)

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Offline mandem

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How to teach multiple home positions
« on: May 11, 2018, 01:34:42 PM »
I hear this is possible but cant find documentation on how to do it

Setup: KRC4, KR30-3, SmartPAD

Offline panic mode

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Re: How to teach multiple home positions
« Reply #1 on: May 11, 2018, 02:46:31 PM »
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

Offline mandem

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Re: How to teach multiple home positions
« Reply #2 on: May 11, 2018, 04:33:24 PM »
Sweet. Cheers!

Offline mandem

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Re: How to teach multiple home positions
« Reply #3 on: May 22, 2018, 12:28:06 PM »
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.

 

Offline Mr.E

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Re: How to teach multiple home positions
« Reply #4 on: May 22, 2018, 12:54:12 PM »
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).

Offline panic mode

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Re: How to teach multiple home positions
« Reply #5 on: May 22, 2018, 01:48:46 PM »
are you sure you are using inline form?
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

Offline mandem

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Re: How to teach multiple home positions
« Reply #6 on: May 22, 2018, 01:56:33 PM »
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).

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?

are you sure you are using inline form?

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

Offline panic mode

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Re: How to teach multiple home positions
« Reply #7 on: May 22, 2018, 02:07:29 PM »
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 »
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

Offline mandem

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Re: How to teach multiple home positions
« Reply #8 on: May 22, 2018, 02:40:12 PM »
read the manual or take training
inline form instructions are lines of code you insert from COMMANDS menu (commands>Motions>PTP).


for example:

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

Offline Mr.E

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Re: How to teach multiple home positions
« Reply #9 on: May 22, 2018, 03:26:24 PM »
'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)

Offline mandem

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Re: How to teach multiple home positions
« Reply #10 on: May 22, 2018, 06:23:27 PM »
manually press the button that looks like a pen/stylus which brings up the keyboard?! (left hand side of screen)

Makes sense  :toothy9: