Please help with a question on Torque Monitoring and Collision Detection...
In my code...
I am going to copy the following point
; left hand position
;FOLD LIN LHmoldPos Vel=2 m/s LHmoldPos Tool[3]:currTool Base[2]:moldFrame CD;%{PE}%R 5.5.33,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:LHmoldPos, 3:, 5:2, 7:LHmoldPos
$BWDSTART=FALSE
LDAT_ACT=LLHmoldPos
FDAT_ACT=FLHmoldPos
BAS(#CP_PARAMS,2)
TQM_FIFO_READ(TM1)
TRIGGER WHEN DISTANCE=0 DELAY=0 DO iTQM_TRIGGERID=1
TRIGGER WHEN DISTANCE=0 DELAY=0 DO TQM_START_MON(TM1) PRIO = -1
TRIGGER WHEN DISTANCE=1 DELAY=0 DO TQM_SWAP_VALUES(TM1) PRIO = -1
LIN XLHmoldPos
;ENDFOLD
And then make a new point called
; place inserts position
;FOLD LIN LHinsPos Vel=2 m/s LHinsPos Tool[3]:currTool Base[2]:moldFrame CD;%{PE}%R 5.5.33,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:LHinsPos, 3:, 5:2, 7:LHinsPos
$BWDSTART=FALSE
LDAT_ACT=LLHinsPos
FDAT_ACT=FLHinsPos
BAS(#CP_PARAMS,2)
TQM_FIFO_READ(TM1)
TRIGGER WHEN DISTANCE=0 DELAY=0 DO iTQM_TRIGGERID=1
TRIGGER WHEN DISTANCE=0 DELAY=0 DO TQM_START_MON(TM1) PRIO = -1
TRIGGER WHEN DISTANCE=1 DELAY=0 DO TQM_SWAP_VALUES(TM1) PRIO = -1
LIN XLinsPos
;ENDFOLD
I am not certain about the TQM values and what would happen if I use TM1 for both points? Since every point in this routine has it's own TM passed to TQM_START_MON and TQM_SWAP_VALUES functions. The .dat file has the values also set to different numbers for each one.
Would someone please answer the following questions...
A.) what happens when I use the same TM number to pass to a different point
B.) Are they tied to specific points in the .dat file
C.) In my .dat file, would someone please explain what the green highlighted numbers mean and represent as well as what the red highlighted numbers mean
D.) Should this not be copied to a new point in the program and an inline form is used instead to make the new data, and the data will automatically
be saved to the respective .dat file?
&ACCESS RV2
&REL 1987
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM EDITMASK = *
DEFDAT MOLDER PUBLIC
; TCA Kuka mold service PUBLIC
;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P
EXT BAS (BAS_COMMAND :IN,REAL :IN )
DECL INT SUCCESS
;ENDFOLD (BASISTECH EXT)
;FOLD USER EXT;%{E}%MKUKATPUSER,%CEXT,%VEXT,%P
DECL E6POS nearMold
DECL AXIS spin
;ENDFOLD (USER EXT)
;ENDFOLD (EXTERNAL DECLARATIONS)
DECL BASIS_SUGG_T LAST_BASIS={POINT1[] "LHmoldClear ",POINT2[] "LHmoldClear ",CP_PARAMS[] "LHmoldCentre ",PTP_PARAMS[] "LHmoldClear ",CONT[] "C_PTP ",CP_VEL[] "2 ",PTP_VEL[] "100 ",SYNC_PARAMS[] "SYNCDAT ",SPL_NAME[] "S0 "}
DECL PDAT PPDAT1={VEL 100.0,ACC 100.0,APO_DIST 100.0}
DECL TM_SUGG_T LAST_TQM={TM_ID[] "TM16 "}
[glow=green,2,300]DECL TQM_TQDAT_T TM1={T11 5,T12 12,T13 4,T14 3,T15 14,T16 3,T21 45,T22 76,T23 64,T24 84,T25 100,T26 42,K1 321,K2 315,K3 309,K4 312,K5 314,K6 311,O1 20,O2 30,ID 1,OVM 100,TMF 1.0}
[/glow]DECL LDAT LCPDAT1={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0}
[glow=green,2,300]DECL TQM_TQDAT_T TM2={T11 200,T12 200,T13 200,T14 200,T15 200,T16 200,T21 1728,T22 1728,T23 1728,T24 1728,T25 1728,T26 1728,K1 298,K2 296,K3 296,K4 298,K5 299,K6 298,O1 20,O2 30,ID 2,OVM 0,TMF 1.0}
DECL TQM_TQDAT_T TM3={T11 4,T12 15,T13 5,T14 5,T15 15,T16 3,T21 39,T22 81,T23 56,T24 86,T25 87,T26 45,K1 332,K2 325,K3 316,K4 318,K5 320,K6 317,O1 20,O2 30,ID 3,OVM 100,TMF 1.0}
DECL TQM_TQDAT_T TM4={T11 200,T12 200,T13 200,T14 200,T15 200,T16 200,T21 1000,T22 1000,T23 1000,T24 1000,T25 1000,T26 1000,K1 280,K2 280,K3 280,K4 280,K5 280,K6 280,O1 20,O2 30,ID 4,OVM 0,TMF 1.0}
[/glow]DECL E6POS XLHMoldLineup={X 546.798828,Y 965.505981,Z 1277.45496,A -0.31872341,B -0.0224773996,C -90.3360825,S 2,T 11,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL FDAT FLHmoldLineup={TOOL_NO 3,BASE_NO 2,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE TRUE}
[glow=red,2,300]DECL LDAT LCPDAT2={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0}
[/glow][glow=green,2,300]DECL TQM_TQDAT_T TM5={T11 7,T12 13,T13 7,T14 6,T15 18,T16 3,T21 37,T22 103,T23 46,T24 91,T25 96,T26 24,K1 333,K2 325,K3 316,K4 318,K5 320,K6 316,O1 20,O2 30,ID 5,OVM 100,TMF 1.0}
[/glow]DECL E6POS XLHmoldCentre={X 545.136719,Y 1268.26404,Z 1277.453,A -0.318841398,B -0.0229006093,C -90.3359299,S 2,T 11,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL FDAT FLHmoldCentre={TOOL_NO 3,BASE_NO 2,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE TRUE}
[glow=green,2,300]DECL TQM_TQDAT_T TM6={T11 200,T12 200,T13 200,T14 200,T15 200,T16 200,T21 9102119,T22 9102119,T23 9102119,T24 9102119,T25 9102119,T26 9102119,K1 297,K2 295,K3 295,K4 297,K5 297,K6 296,O1 20,O2 30,ID 6,OVM 0,TMF 1.0}
[/glow]DECL LDAT LCPDAT4={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0}
[glow=green,2,300]DECL TQM_TQDAT_T TM7={T11 4,T12 7,T13 3,T14 5,T15 11,T16 3,T21 26,T22 43,T23 41,T24 36,T25 47,T26 17,K1 299,K2 296,K3 296,K4 298,K5 298,K6 298,O1 20,O2 30,ID 7,OVM 30,TMF 8.0}
[/glow]DECL PDAT PPDAT2={VEL 100.0,ACC 100.0,APO_DIST 100.0,APO_MODE #CPTP}
DECL PDAT PPDAT3={VEL 100.0,ACC 100.0,APO_DIST 100.0,APO_MODE #CPTP}
[glow=red,2,300]DECL LDAT LCPDAT5={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0}[/glow]
DECL PDAT PPDAT4={VEL 100.0,ACC 100.0,APO_DIST 100.0,APO_MODE #CPTP}
[glow=green,2,300]DECL TQM_TQDAT_T TM8={T11 9,T12 13,T13 6,T14 8,T15 19,T16 8,T21 85,T22 89,T23 56,T24 95,T25 132,T26 81,K1 332,K2 325,K3 316,K4 318,K5 320,K6 316,O1 20,O2 30,ID 8,OVM 100,TMF 1.0}
[/glow]DECL E6POS XLHMoldPos={X 540.9823,Y 1269.69397,Z 1276.44397,A -0.300615698,B -0.454346895,C -89.9542236,S 2,T 11,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL FDAT FLHMoldPos={TOOL_NO 3,BASE_NO 2,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE TRUE}
DECL E6POS XRHMoldPos={X 544.056885,Y 1267.49304,Z 1275.78699,A 0.0899241567,B -0.0819994733,C -89.9948273,S 2,T 11,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL FDAT FRHMoldPos={TOOL_NO 3,BASE_NO 2,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE TRUE}
DECL E6POS XRHMOLDCENTRE={X 545.136719,Y 1268.26404,Z 1277.453,A -0.318841398,B -0.0229006093,C -90.3359299,S 2,T 11,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL FDAT FRHMoldCentre={TOOL_NO 3,BASE_NO 2,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE TRUE}
DECL PDAT PPDAT5={VEL 100.0,ACC 100.0,APO_DIST 100.0,APO_MODE #CPTP}
[glow=green,2,300]DECL TQM_TQDAT_T TM9={T11 2,T12 1,T13 2,T14 8,T15 12,T16 6,T21 35,T22 31,T23 34,T24 147,T25 34,T26 72,K1 303,K2 301,K3 300,K4 304,K5 304,K6 303,O1 20,O2 30,ID 9,OVM 30,TMF 1.0}[/glow]
DECL LDAT LCPDAT6={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0}
DECL LDAT LCPDAT7={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0}
[glow=green,2,300]DECL TQM_TQDAT_T TM10={T11 1,T12 1,T13 1,T14 3,T15 12,T16 1,T21 16,T22 17,T23 19,T24 24,T25 25,T26 11,K1 300,K2 297,K3 297,K4 299,K5 299,K6 299,O1 20,O2 30,ID 10,OVM 30,TMF 1.0}
[/glow]DECL E6POS XRHnearMold={X 568.592407,Y 804.772827,Z 1310.05701,A 13.7435102,B -0.113717303,C -92.5792084,S 2,T 11,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL FDAT FRHnearMold={TOOL_NO 3,BASE_NO 2,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE TRUE}
DECL E6POS XRHmoldLineup={X 546.798828,Y 965.505981,Z 1277.45496,A -0.31872341,B -0.0224773996,C -90.3360825,S 2,T 11,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL FDAT FRHmoldLineup={TOOL_NO 3,BASE_NO 2,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE TRUE}
DECL E6POS XLHnearMold={X 568.592407,Y 804.772827,Z 1310.05701,A 13.7435102,B -0.113717303,C -92.5792084,S 2,T 11,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL FDAT FLHnearMold={TOOL_NO 3,BASE_NO 2,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE TRUE}
DECL PDAT PLHnearMold={VEL 100.0,ACC 100.0,APO_DIST 100.0,APO_MODE #CPTP}
[glow=green,2,300]DECL TQM_TQDAT_T TM11={T11 11,T12 13,T13 5,T14 8,T15 17,T16 8,T21 73,T22 90,T23 55,T24 119,T25 138,T26 76,K1 321,K2 315,K3 310,K4 312,K5 314,K6 311,O1 20,O2 30,ID 11,OVM 100,TMF 1.0}
DECL TQM_TQDAT_T TM12={T11 4,T12 6,T13 3,T14 5,T15 10,T16 3,T21 215,T22 319,T23 338,T24 251,T25 251,T26 122,K1 302,K2 299,K3 300,K4 301,K5 302,K6 301,O1 20,O2 30,ID 12,OVM 30,TMF 260.0}
[/glow]DECL LDAT LLHmoldLineup={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0}
[glow=green,2,300]DECL TQM_TQDAT_T TM13={T11 8,T12 11,T13 7,T14 7,T15 18,T16 4,T21 41,T22 106,T23 37,T24 107,T25 86,T26 26,K1 321,K2 315,K3 309,K4 312,K5 314,K6 311,O1 20,O2 30,ID 13,OVM 100,TMF 1.0}
[/glow]DECL LDAT LLHmoldCentre={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0}
[glow=green,2,300]DECL TQM_TQDAT_T TM14={T11 3,T12 2,T13 2,T14 4,T15 17,T16 5,T21 22,T22 30,T23 38,T24 86,T25 86,T26 43,K1 304,K2 300,K3 301,K4 303,K5 303,K6 302,O1 20,O2 30,ID 14,OVM 30,TMF 1.0}
DECL TQM_TQDAT_T TM15={T11 1,T12 2,T13 1,T14 6,T15 14,T16 6,T21 41401,T22 91045,T23 65172,T24 336570,T25 46745,T26 98660,K1 302,K2 300,K3 300,K4 303,K5 302,K6 302,O1 20,O2 30,ID 15,OVM 30,TMF 288.0}
[/glow]DECL LDAT LLHmoldPos={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0}
DECL PDAT PRHnearMold={VEL 100.0,ACC 100.0,APO_DIST 100.0,APO_MODE #CPTP}
DECL LDAT LRHmoldLineup={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0}
DECL LDAT LRHmoldCentre={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0}
DECL LDAT LRHmoldPos={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0}
DECL PDAT PmoldClear={VEL 100.0,ACC 100.0,APO_DIST 100.0,APO_MODE #CPTP}
[glow=green,2,300]DECL TQM_TQDAT_T TM16={T11 15,T12 24,T13 9,T14 12,T15 19,T16 4,T21 108,T22 191,T23 92,T24 80,T25 183,T26 37,K1 304,K2 301,K3 301,K4 303,K5 304,K6 303,O1 20,O2 30,ID 16,OVM 100,TMF 1.0}[/glow]
DECL E6POS XmoldClear={X 642.602112,Y 370.678192,Z 1269.63403,A 23.7182198,B 0.285400212,C -92.7989731,S 2,T 11,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL FDAT FmoldClear={TOOL_NO 3,BASE_NO 2,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE TRUE}
ENDDAT