I have a problem with base transformation.
In robot cell there are three boxes, each box has two columns and each column has 4 baskets.
I defined base 1 for first box and I pick up one basket with 15 points, all PTP because I need speed. Points are touchup in my base 1 system.
For other basket in this box I plan just move base 1 system, first column with changing Z, second column with changing Z and Y value.
Box is in paralel with nullframe of robot.
My problem is that when I move the base, in some points axes A6 change sign and robot don't go to that point, I get error software limit -A6 out of range.
I attached one small test. If I run program with base Y=-1013 than is ok, if I run program with Y=-1013+670, I get error when moving to P2.
I simulate also on KukaOfficeLiteKRC and is the same problem.
Any idea how to solve this?
Thank you,
Marko
PTP HOME
BASE_DATA[1].X=1314
BASE_DATA[1].Y=-1013+670
BASE_DATA[1].Z=291
;FOLD PTP P1 Vel= 100 % PDAT1 Tool[1] Base[1]:boxA;%{PE}%R 4.1.16,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P1, 3:, 5:100, 7:PDAT1
$BWDSTART = FALSE
PDAT_ACT=PPDAT1
BAS(#PTP_DAT)
FDAT_ACT=FP1
BAS(#FRAMES)
BAS(#VEL_PTP,100)
PTP XP1
;ENDFOLD
;FOLD PTP P2 Vel= 100 % PDAT2 Tool[1] Base[1]:boxA;%{PE}%R 4.1.16,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P2, 3:, 5:100, 7:PDAT2
$BWDSTART = FALSE
PDAT_ACT=PPDAT2
BAS(#PTP_DAT)
FDAT_ACT=FP2
BAS(#FRAMES)
BAS(#VEL_PTP,100)
PTP XP2
;ENDFOLD
Points from DAT file:
DECL E6POS XP1={x -172.0,y -18.0,z 1007.0,a 117.0,b 89.0,c 116.0,s 6,t 50,e1 0.0,e2 0.0,e3 0.0,e4 0.0,e5 0.0,e6 0.0}
DECL FDAT FP1={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE}
DECL PDAT PPDAT1={VEL 100.0,ACC 100.0,APO_DIST 100.0}
DECL E6POS XP2={x -172.0,y -18.0,z -26.0,a 117.0,b 89.0,c 116.0,s 6,t 50,e1 0.0,e2 0.0,e3 0.0,e4 0.0,e5 0.0,e6 0.0}
DECL FDAT FP2={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE}
DECL PDAT PPDAT2={VEL 100.0,ACC 100.0,APO_DIST 100.0}