dear all,
what i want to do is a LIN motion for example.
when there is nothing from the start point for LIN motion. then $vel.cp=2.0
when there is a payload 1kg (or any value) from the start point. then $ VEL.cp=0.2
how to programm such motion?
programming of collision detection
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kriti -
November 17, 2014 at 8:37 AM -
Thread is marked as Resolved.
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take a training course at Kuka
first motion of any robot program must be full PTP.
if you want LIN to be first, you must make sure that robot is in correct place, then:PTP $POS_ACT
LIN myPointand of course you can make velocity change in accordance with payload but... YOU must know what payload is there (so you must program it)
$load = load_data[4] ; assign some load
If $load.M>=1.0 then
$vel.cp = 0.2
else
$vel.cp = 2.0
endif -
If $load.M>=1.0 then
stop here. what is $load.M for? -
thanks, got it. it's not easy to have KUKA teaching program in my area.