I have about 30 programs to write with 20 - 30 target points in each program.
To speed programming I would like to offset my targets points in Tool Frame Z.
I do this with offsets in Japanese robots.
what is the command in a Kuka to preform this?
Example:
PTP HOME
PTP p1 offset tool Z 300 mm approach position
PTP p1 CONT Vel=100 % PDAT27 Tool[1]: Base[3]:1 target position
PTP p1 offset tool Z 100mm depart position
PTP p2 offset tool Z 300 mm approach position
PTP p2 CONT Vel=100 % PDAT28 Tool[1]: Base[3]:1 target position
PTP p2 offset tool Z 300 mm depart position
PTP HOME
Post
RE: KUKA KRL Folds
To the compiler, anything after the ; is a comment.
To the user interface, ;FOLD and ;ENDFOLD are the start and end tags that influence how the code is displayed. Any programmer can use Folds to affect the cosmetic appearance of their code. Folds provide a small degree of protection, too, since Folds normally cannot be opened on the pendant unless the user is logged in at Expert or higher.
And for "Inline Forms", what KUKA uses for menu-driven programming on the teach pendant, certain special…
To the user interface, ;FOLD and ;ENDFOLD are the start and end tags that influence how the code is displayed. Any programmer can use Folds to affect the cosmetic appearance of their code. Folds provide a small degree of protection, too, since Folds normally cannot be opened on the pendant unless the user is logged in at Expert or higher.
And for "Inline Forms", what KUKA uses for menu-driven programming on the teach pendant, certain special…