This is a KRC2 robot on track + external rotary table, trying to run a sample SRC file generated in Robotmaster saved it to floppy load it to C2 run program and I get No 1443:
Opened Rob. position: Monitor-->Rob. Position---->Axis Specific
A2=-90, A3=89.99xxx, rest of axes = 0, does it have anything to do with A3?
Start Movement inadmissible
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happytriger2000 -
August 7, 2013 at 3:36 PM -
Thread is Resolved
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Is the first position a LIN move?
The robot needs to BCO so the first move needs to be a PTP.
You can PTP move it to $POS_ACT which will BCO without physically moving.
Sent using Tapatalk 4.
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You have $BASE and $TOOL settings, but you might also need to add an "INI" call to BAS.SRC to set things like default speed, acceleration, approximation, etc.
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You have $BASE and $TOOL settings, but you might also need to add an "INI" call to BAS.SRC to set things like default speed, acceleration, approximation, etc.Something like this:
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You need to modify some of the moves to stop the singularity, it appears about 38 seconds.
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http://youtu.be/QkwFsXe50kM
Currently I do not have the right robot type in this home computer, the C2 is a KR2210L150K :
Also how do I disable 1 of the external axis? I want to unplug the Power & resolve cable off the Servo motor of the rotary table.
thanks
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Should be able to do so simply by setting $EX_AX_NUM to 0 for the duration of the test.
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I would delete this line:
CodePTP {A1 0.0000,A2 -90.0000,A3 90.0000,A4 0.0000,A5 0.0000,A6 0.0000}Did the robotmaster guys helped on this?
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One has a BAS (#INITMOVE,0), the other doesn't.
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Alright it is working!!
Solution:
Open Swarf2.src and Mod6e.src in Orange editor.
In swarf2.src highlight lines 1 to 17 then delete.
Goto Mode6.src, highlight lines 1 to 4 then copy.
Go back to swar2.src and paste the lines above line 18: $BASE={X 2400.0000,Y 0.0000,Z 1000.0000,A 0.0000,B 0.0000,C 0.0000}, should look like this:
RM simulation:
http://youtu.be/1o69dY9wH6wReal Robot Motion:
http://youtu.be/9X19xZaENbA -
Looks good, glad to hear you fixed it.
Can i ask a question about the spindle holder - why do you choose this scheme - is it 60 degree? My spindle is on 90 degree and i was thinking to try another setting - can you tell me your reasons to have angled spindle holder? -
I used to mount mine at 45. It will certainly affect(though not eliminate) where you get singularities and wrist flips. Also, imo, it helped eliminate potential wrist collisions with the work surface when tilting(but arguably these can also be handled by controlling rotation around the axis of the spindle)
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Hi vvelikov,
Like wes_mcgee said: " it helped eliminate potential wrist collisions with the work surface when tilting", but at 1st I was just following what this page doing:
My 1st design was 90 degree aswell, then changed it to 59 degree.
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you want to watch what you're deleting out of there! some of those settings control corning rounding and joint motion speed. So if you changed it in robotmaster they won't affect the program if you delete the lines.
you shouldn't have to delete anything from the robotmsater SRC programs, but glad to see you got it working. what you want to do is take your home position from the Mode6 program (that's the PTP values)
and put them in the Approach / Retract values in Robotmaster.
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