Hello everyone !!!
Tell me what kind of option and that it meets: $TECHPAR[2,1] = 0.056 ; Smoothing constant (unit: s)????
Thanks in advance!
Question by $TECHPAR
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Vyastrebov -
June 4, 2015 at 9:23 AM -
Thread is marked as Resolved.
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get manual for function generator:
Quote$TECHPAR[i, j], i=1,...,6 , j=1,...,10
This is used for parameterization or output of the function generator (analog sensors,
conveyor tracking, etc.) in the advance run. Ten input parameters and ten output parameters
are available to each function generator (i). If a parameter is used to output function
generator states, the parameter value that is current in the interpolation cycle can be found
in the main run variable.
The data type is REAL. The variable can be modified in the program and is block-specific. -
Hi,
i am working on a KUKA Robot with a KRC4 controller (KSS 8.3).
I have an external axis that changes its position at runtime and
the Robot has to sychronize his tcp postion. That means the robot
has to follow the axis.
I solved the whole thing by using the Kuka "function generator".
Unfortunately, the robot moves too jerkily when compensating for the
devications. I think i can solve the problem by adust the parameters of
the "function generator" -> $TECHPAR[i,j]
Unfortunately i haven´t found any manual that describe exactly what
the individual parameters of the "function generator" do.
So far i have only found out that:
-> TECHPAR[x,1] is the smoothnes
-> TECHPAR[x,9] is the REL(1) / ABS(0) correction
Does anyone have a description of the "funktion generator" parameters ?
I am very grateful for any help. Thanks in advance.