Hello. someone have used $async_axis internal variable? I´m working with a program made by another company, this should be sincronize external axis with robot movement, the robot use 3 different tools, and every tool used different external axis. This internal variable disconnect external axis from robot movement, so the robot can use different tool without problem? tnx
$async_axis question.
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fuzco -
December 3, 2013 at 9:24 AM -
Thread is marked as Resolved.
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this is the wrong tread, can the admin move the post to normal kuka tread? tnx and sorry
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Like this
$ASYNC_AXIS
Brief information
Activation and deactivation of asynchronous external axes
(not permissible in SPS.SUB!)
Syntax
$ASYNC_AXIS = Value Example: $ASYNC_AXIS = 'B0100‘
This value switches bit-coded external axes to
asynchronous mode or back to synchronous mode. The
bits correspond to the external axes in ascending order:
bit 0 = external axis 1, bit 1 = external axis 2, etc.
1: external axis in asynchronous mode
0: external axis in synchronous modeExample:
PTP P10 VEL = 100% PDAT7 Tool[1]:Pin Base[17]:DKP_400
;Deactivation of the mathematical coupling
PTP P11 VEL = 100% PDAT8 Tool[1]:Pin Base[0]
$ASYNC_AXIS = 'B0100 -
In order to drop off a tool that includes an external axis, $ASYNC_AXIS is only part of the solution. The axis must also be set as detatchable, This requires setting $ASYNC_EX_AX_DECOUPLE, to make it possible to detatch an async axis without faulting the robot. You will also need to provide for proper zeroing of each axis before it is dropped and picked up again.
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In order to drop off a tool that includes an external axis, $ASYNC_AXIS is only part of the solution. The axis must also be set as detatchable, This requires setting $ASYNC_EX_AX_DECOUPLE, to make it possible to detatch an async axis without faulting the robot. You will also need to provide for proper zeroing of each axis before it is dropped and picked up again.Yes, you have gotten the point, but I´ve understood than the robot used external axis 1 as linear axis to move itself between two station.
For each station there is a rotative axis to move the piece , and these two axis are external 2 and 3 .
So the robot desn´t need to disconnect the E2 if is working on E3, but only set "$ASYNC_AXIS = B´00000010´".