Kuka problem- change the Z coordinate

  • Greetings,


    I have a problem with changing the coordinates of a robot.


    The problem was written by outside worked, some times later the company was shut down.
    I have basic knowledge of kuka programing :censored:


    The items that the robot is holding are bumping into the euro palet.


    I have located and change the point several times but the position of the point isn't changing.


    Can someone please tell me how to access the coordinates of the program in the attachment or how to change the point.
    I would like to change the Z coordinate a bit higher that it is.


    Best regards,


    Rok Gorjanc

  • AD
  • I can not send you all program, because of the our company politics.


    I have checked if there was any definition of the first point like:


    DEF()_ first point


    x = 0.123
    y= 123.45
    z= 213.0


    There is no deffiniton.
    I am not sure but maybe I should look in the monitor /configure columns in the KRC pad?!? ???

  • questions specific to KUKA should be posted in KUKA forum, not General section.


    without whole program it is not clear how it works. you also do not specify what is it you changed and how.
    if the program uses PRVI_KOS as a direct point, all you need to do is:
    - select program
    - select line containing inline-form motion instruction with PRVI_KOS point
    - move robot to a correct position,
    - press Teach/Touchup


    if the point is computed, you need to find where. The simplest workaround is to add extra line before motion instruction and modify the point, for example:


    XPRVI_KOS.Z=XPRVI_KOS.Z+25 ; add 25mm to Z
    PTP PRVI_KOS CONT Vel= 100% PDAT25 Tool[1]:grp1 Base[0]


    Warning, this will add offset every time...

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

  • I am sorry about where I posted my problem. Thank you for the info.


    Like I have said I couldn't send the program because it is not mine (policy rights...), but you have given me a direction where to start.


    I do not know if this commad for raising point will help because I have already done the first thing that you have suggested for several time:


    "
    - select program
    - select line containing inline-form motion instruction with PRVI_KOS point
    - move robot to a correct position,
    - press Teach/Touchup


    "


    I will let you know what I have done ...

  • Hello again.


    I have solve my problem by folowing your instructions Panic mode. They were very helpful.


    I restarted the program and went step to step through the program. Then when the approximation of the selected point was done
    I cancel the program open it and add + 15 to the selected line.


    It worked out fine like it should.


    Thanks again.
    :respect:

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