Guys I need the code for moving the kuka bot in circular motion for both DAT and SRC files. Somebody help.
MOTION PROGRMMING
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yasrock18 -
June 9, 2013 at 12:44 AM -
Thread is marked as Resolved.
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Just use the inline form and pick CIRC motion !
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will the folowing code work for circular motion
For DAT file:
DECL E6POS XP1={X 1500 Y -20 Z 500}{X 1970.700,Y -29.120,Z 500.400,A 90.0,B 0.0,C 0.0,S 2,T 34,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 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL CDAT CCPDAT1={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0,EXAX_IGN 0}For SRC file:
;FOLD CIRC P1 Vel= 2 m/s CPDAT1 Tool[1]:tool_1 Base[0];%{PE}%R 5.2.7,%MKUKATPA20,%VCIRC,%P 1:CIRC, 2:P, 3:, 5:2, 7:CPDAT1
$BWDSTART = FALSE
CDAT_ACT=CCPDAT1
BAS(#CP_DAT)
FDAT_ACT=FP1
BAS(#FRAMES)
BAS(#VEL_CP,2)
LIN XP1
;ENDFOLD
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How did that LIN command get into a CIRC motion fold? Are you trying to create these folds yourself? Why? The KRC already does all this for you.
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yes I need to create these folds by myself.
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Thanks all
I got my mistake.