Hi,everybody!
I am working on a project with KUKA mxAutomation, and the robot moves to the position via approximation. But when I send the path to the robot in advanced ,the robot has a short stop in part of the required positions before it moves to next one. How can I make the robot move continuously without a short stop at each position?
KUKA mxAutomation problem
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RXWein -
March 15, 2016 at 6:42 AM -
Thread is marked as Resolved.
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Hi,
I've been working with MxA using an Allen Bradley PLC recently. I found that for approximation to work, you must set the "xxx.ExecuteCmd" flags in both (or more) instructions on the same PLC scan. For example, say I have two PTP moves with AOI tag names of "PTP1" and "PTP2"... I must ensure that the instructions are configured with BufferMode set to 2 and activate (write to TRUE via a coil or latch) "PTP1.ExcuteCmd" & "PTP2.ExcuteCmd". You must also ensure that your approximation parameters are set as required, i.e. distances and mode etc.
Cheers and good luck!
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Hi,
I only use one PTP in the program, and sure that the "xxx.ExecuteCmd"has been activated. The BufferMode has been set to 2 and the instruction "KRC_SetAdvance" has also been set . The approximation parameters are set as required. That says I set the "PTP_Mode" to 1 and the distances to 50. But the result is that the robot moves continuously at some given positions but has a short stop at others. I don't know what's wrong. -
Hi,
Yeah, one AOI instruction was also something I considered doing, however it makes it more difficult for fault recovery and verifying that the instruction completed successfully. I've not experienced the symptoms you described by using multiple AOI instances. I notice that the KRC_SetAdvance instruction also has a MaxWaitTime parameter - perhaps the tolerance is very tight here and PLC scan time may be affecting the behavior? - you could try modifying this value??
BTW, are you using Siemens or Rockwell PLC? It's been very difficult to find users of MxAutomation - I'd be interested to hear about your application and success with it!
cheers!
vds -
Hi,
I am using Siemens PLC , and the MaxWaitTime parameter in KRC_SetAdvance instruction is set to maximum. I will try to use multiple AOI instances and hope it will works.I don't find any material about MxAutomation except the manual and just few people use MxA. If I success, you will get it.
Thanks a lot.