Hi,
I would like known, if, in the robots Kuka VKRC4,Is there a command like the ConfL/J ON/OFF of ABB?
Tks.
Adriano
Hi,
I would like known, if, in the robots Kuka VKRC4,Is there a command like the ConfL/J ON/OFF of ABB?
Tks.
Adriano
Hi,
I am not familiar with ABBs but according to their rapid language description CONFL/J is configuration monitoring. This is done in KRL by means of $CP_STATMON = #NONE or #CHECK_S or #CHECK_TS. CHECK_S only checks Status, #CHECK_TS checks status and turn. Checks are only done for CP movements. Controlling the Status/Turn for PTP motions is done by means of setting the desired Status and Turn bits of your E6POS target position (X,Y,Z,A,B,C,S,T,E1,...,E6).
If needed you will find many threads on status and turn using the forum search, see e.g.
https://www.robot-forum.com/robotforum/kuk…33654/#msg33654
Fubini
Hi,
As far as i know ConfJ/L ON/OFF sets the robot into a mode that it's testing the point before trying to reach it. Correct me if i'm wrong.
If i'm right though - In KUKA you can say that they are all ON by default.
I believe there isn't a way to turn that off - It does not make sense to reach the closest point.
But if this is what you want I suggest you to program a function in KRL that gets a target point and generates points between your current position to the target point.
One workaround is to perform a motion command to a simple POS variable, rather than an E6POS. If you don't provide S and T variables, the robot will find the shortest path (in joint space) to the destination. This can be handy sometimes for search-pattern programs that need to cross through different S&T zones.
Hi,I am not familiar with ABBs but according to their rapid language description CONFL/J is configuration monitoring. This is done in KRL by means of $CP_STATMON = #NONE or #CHECK_S or #CHECK_TS. CHECK_S only checks Status, #CHECK_TS checks status and turn. Checks are only done for CP movements. Controlling the Status/Turn for PTP motions is done by means of setting the desired Status and Turn bits of your E6POS target position (X,Y,Z,A,B,C,S,T,E1,...,E6).
If needed you will find many threads on status and turn using the forum search, see e.g.
Fubini
Hi;
Tks for your answer....
If I made a download of a traj. without the variables S and T, Can I use the command CHECK_TS=OFF to run the traj and after when the robots arrive in this point, I record the point with your configuration?
Tks a lot;
Adriano.