Setting $BASE parameter

Hi,

see http://www.robot-forum.com/rob…etails/msg50461/#msg50461

and study what bas.src does with the EK command.

By the way asigning $BASE=base_data[17] never would work, but external kinematic bases were stored in base_data[17 ...]. Bas.src then evaluated the index and applied the corresponding EK command.

Fubini

Can you please indicate what variables must be defined in config.dat file?
I am in the same situation with bmike.

Can you attach any config.dat for external axis?

EK command must be defined in each src program file?

If I have 80 files ?

Ty

Just take a look at method

DEF EX_BASE (BASE_NO :IN , MACH_IDX : IN)

of bas.src. It pretty much shows how the $config.dat values are used. Using this information and my prevoius post you would be able to use a e.g. call

EX_BASE(13,5)

call in your programs to activate geometric coupling for base 13 and machine 5 according to you $config.dat.

Fubini

Fubini,

Can you check if next definition is right ? On your explained logic I tried to configure my rotary table, only one axis, vertical (x) from CAM reason asked for 4 axis strategy .

In file.src i should have:

DEF EX_BASE(17,2)
INT 17 , 2
$BASE=EK(MACHINE_DEF[2].ROOT, MACHINE_DEF[2].MECH_TYPE,BASE_DATA[17]:{x 0.0,y 0.0, z 0.0, a 0.0, b -90.0, c 0,0)) x axis must be vertical
$ACT_BASE=17
Base 17 is defined in reference to EASYS frame, center of rotary flange as I understood and not in reference to world frame of robot.
IN config.dat I should have:

MACHINE_DEF[1]={NAME[]"Robot",COOP_KRC_INDEX 1,PARENT[] "WORLD",ROOT {x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0},MECH_TYPE #ROBOT,GEOMETRY[] " "}

MACHINE_DEF[2]={NAME[]"RV450",COMP_KRC_INDEX 1,PARENT[]" ",ROOT[x 0.0, y -2500.0,z -700,0,a 0.0,b 0.0,c.0},MECH_TYPE#EASYS,GEOMETRY[]" "}

MACHINE_FRAME_DAT[17]={MACH_DEF_INDEX2,PARENT[]"RV450",GEOMETRY" "}

I thinks this is correct variables setting in config.dat file for 7 th axis turntable. For my table positioning.
I just got a config.dat from someone .

Anyone else can express his opinion on above config.dat topic and EK command for external axis geometrical coupling.
Thank you.

Hi,

looks ok for me. Of course I can not state wether you external kinematic set up is don correct. It is always easier to just check it out. Set the TCP close to your external axis and activate your base. Then cartesian jog the external axis. The Robot should stay at the same Position in relation to your external axis base (visually and $pos_act stands still).

Fubini

I corrected variables definition for config.dat above. This seems to be the right one.
I just need to test it on robot now.

Using DEF EX_BASE (17,2) in src program getting compile error.
How have to look head of src file. And if I have a main program which call subprogram, each one must have same head lines?

Can someone place here a src file which contain EK command, Base activation ?
Would be helpful to see syntax of file's head.
Thank you

Does your code read like in your previous post:

DEF EX_BASE(17,2)
INT 17 , 2
...
END

Then you should modify it to

DEF EX_BASE (BASE_NO :IN , MACH_IDX : IN)
INT BASE_NO , MACH_IDX
...
END

Can someone check if syntax of this src head file has well defined external axis base and EK command?
Only as syntax.

&ACCESS RVE
DEF DEGRO1( )
;FOLD INI;%{PE}%V3.2.0,%MKUKATPBASIS,%CINIT,%VCOMMON,%P
;FOLD BAS INI;%{E}%V3.2.0,%MKUKATPBASIS,%CINIT,%VINIT,%P
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
BAS (#INITMOV,0 )
;ENDFOLD (BAS INI)
;ENDFOLD (INI)
DEF EX_BASE(BASE_NO :IN,MACH_IDX :IN)
INT BASE_NO , MACH_IDX
END
BAS(#VEL_PTP, 10)
BAS(#ACC_PTP, 10)
PTP $POS_ACT
EX_BASE(17,2)
INT 17,2
$APO.CDIS=0.1
$APO.CORI=1
$APO.CVEL=100
$APO.CPTP=50
BAS(#VEL_PTP, 75)
$IPO_MODE=#BASE
$BASE=EK(MACHINE_DEF[2].ROOT, MACHINE_DEF[2].MECH_TYPE,BASE_DATA[17]:{x 0.0,y 0.0, z 0.0, a 0.0, b -90.0, c 0,0))
$ACT_BASE=17
$TOOL=TOOL_DATA[1]
$VEL.CP=0.083
LIN {X 860,Y 0, Z 360.25, A 93.92, B 0, C 0, E1 -137.71} C_VEL
LIN {X 860,Y 0, Z 250, A 93.92, B 0, C 0, E1 -137.71} C_VEL
$VEL.CP=0.167
LIN {X 860,Y 0, Z 250, A 93.92, B 0, C 0, E1 -137.71} C_VEL
LIN {X 860,Y -7.93, Z 249.87, A 93.92, B -1.81, C -0.12, E1 -139.53} C_VEL
LIN {X 860,Y -15.86, Z 249.5, A 93.93, B -3.63, C -0.25, E1 -141.34} C_VEL
LIN {X 860,Y -23.76, Z 248.87, A 93.94, B -5.44, C -0.37, E1 -143.16} C_VEL
LIN {X 860,Y -31.65, Z 247.99, A 93.95, B -7.26, C -0.5, E1 -144.98} C_VEL

Probably you never did expert programming before. Please read the System Integrators Manual for more on this stuff. Just a quick hack, that probably get you furthrt but will not yet solve all your Problems:

&ACCESS RVE
DEF DEGRO1( )
;FOLD INI;%{PE}%V3.2.0,%MKUKATPBASIS,%CINIT,%VCOMMON,%P
;FOLD BAS INI;%{E}%V3.2.0,%MKUKATPBASIS,%CINIT,%VINIT,%P
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
BAS (#INITMOV,0 )
;ENDFOLD (BAS INI)
;ENDFOLD (INI)
BAS(#VEL_PTP, 10)
BAS(#ACC_PTP, 10)
PTP $POS_ACT
$APO.CDIS=0.1
$APO.CORI=1
$APO.CVEL=100
$APO.CPTP=50
BAS(#VEL_PTP, 75)
$IPO_MODE=#BASE
$TOOL=TOOL_DATA[1]
$VEL.CP=0.083
EX_BASE(17,2)
LIN {X 860,Y 0, Z 360.25, A 93.92, B 0, C 0, E1 -137.71} C_VEL
LIN {X 860,Y 0, Z 250, A 93.92, B 0, C 0, E1 -137.71} C_VEL
$VEL.CP=0.167
LIN {X 860,Y 0, Z 250, A 93.92, B 0, C 0, E1 -137.71} C_VEL
LIN {X 860,Y -7.93, Z 249.87, A 93.92, B -1.81, C -0.12, E1 -139.53} C_VEL
LIN {X 860,Y -15.86, Z 249.5, A 93.93, B -3.63, C -0.25, E1 -141.34} C_VEL
LIN {X 860,Y -23.76, Z 248.87, A 93.94, B -5.44, C -0.37, E1 -143.16} C_VEL
LIN {X 860,Y -31.65, Z 247.99, A 93.95, B -7.26, C -0.5, E1 -144.98} C_VEL
...
END

DEF EX_BASE(BASE_NO :IN,MACH_IDX :IN)
INT BASE_NO , MACH_IDX
$BASE=EK(MACHINE_DEF[MACH_IDX].ROOT, MACHINE_DEF[MACH_IDX].MECH_TYPE,BASE_DATA[BASE_NO]:{x 0.0,y 0.0, z 0.0, a 0.0, b -90.0, c 0,0))
$ACT_BASE=BASE_NO
END

Report to moderator Logged

I tried also your last version, still not work, compilation error.

This Version works:

DEF TEST( )
;FOLD INI;%{PE}%V3.2.0,%MKUKATPBASIS,%CINIT,%VCOMMON,%P
;FOLD BAS INI;%{E}%V3.2.0,%MKUKATPBASIS,%CINIT,%VINIT,%P
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
BAS (#INITMOV,0 )
;ENDFOLD (BAS INI)
;ENDFOLD (INI)
BAS(#VEL_PTP, 10)
BAS(#ACC_PTP, 10)
PTP $POS_ACT
$APO.CDIS=0.1
$APO.CORI=1
$APO.CVEL=100
$APO.CPTP=50
BAS(#VEL_PTP, 75)
$IPO_MODE=#BASE
$TOOL=TOOL_DATA[1]
$VEL.CP=0.083
EX_BASE(17,2)
LIN {X 860,Y 0, Z 360.25, A 93.92, B 0, C 0, E1 -137.71} C_VEL
LIN {X 860,Y 0, Z 250, A 93.92, B 0, C 0, E1 -137.71} C_VEL
$VEL.CP=0.167
LIN {X 860,Y 0, Z 250, A 93.92, B 0, C 0, E1 -137.71} C_VEL
LIN {X 860,Y -7.93, Z 249.87, A 93.92, B -1.81, C -0.12, E1 -139.53} C_VEL
LIN {X 860,Y -15.86, Z 249.5, A 93.93, B -3.63, C -0.25, E1 -141.34} C_VEL
LIN {X 860,Y -23.76, Z 248.87, A 93.94, B -5.44, C -0.37, E1 -143.16} C_VEL
LIN {X 860,Y -31.65, Z 247.99, A 93.95, B -7.26, C -0.5, E1 -144.98} C_VEL
END

DEF EX_BASE(BASE_NO :IN,MACH_IDX :IN)
INT BASE_NO , MACH_IDX
MY_FRAME = BASE_DATA[BASE_NO]:{x 0.0,y 0.0, z 0.0, a 0.0, b -90.0, c 0.0}
$BASE=EK(MACHINE_DEF[MACH_IDX].ROOT, MACHINE_DEF[MACH_IDX].MECH_TYPE,BASE_DATA[BASE_NO]:{x 0.0,y 0.0, z 0.0, a 0.0, b -90.0, c 0.0})
$ACT_BASE=BASE_NO
END

Please note that I will not be able to do your work. Read a about expert programming and especially krl-sytax. In your case the error messages pretty cleary stated the problems: in line

$BASE=EK(MACHINE_DEF[MACH_IDX].ROOT, MACHINE_DEF[MACH_IDX].MECH_TYPE,BASE_DATA[BASE_NO]:{x 0.0,y 0.0, z 0.0, a 0.0, b -90.0, c 0.0})

you wrote "c 0,0)" instead of "c 0.0}"

In my previous correction i only corrected your wrong subroutine calls and did not check for syntax on a real controller.

Fubini

Thank you Fubini, this last version is ok, I got no error compilation with it.
Robot arm is getting wrong though, but probably is a matter of kinematics, base frame,....machine definition. I will check all.
Important is that syntax is ok and tool is going toward base 17. Tool orientation is not good.

Hi bmike,

looking into bas.src reveals in the older versions (V4.1.7) syntax was:

$BASE=EK(EX_AX_DATA[EX_AX_NO].ROOT,EX_AX_DATA[EX_AX_NO].EX_KIN,EX_AX_DATA[EX_AX_NO].OFFSET)

so it is pretty much the same as in newer versions:

$BASE=EK(MACHINE_DEF[MACH_IDX].ROOT,MACHINE_DEF[MACH_IDX].MECH_TYPE,BASE_DATA[BASE_NO])

So basically the offset is not stored in BASE_DATA[17...] but in EX_AX_DATA[EX_AX_NO].OFFSET

Fubini

Fubini,

Can you check my file please, I tried last version from you which suposed to work but robot still goes wrong.
Have you possibility maybe to test on a robot and let me know?
Thank you very much.

&ACCESS RVE
DEF DEGRO1( )
;FOLD INI;%{PE}%V3.2.0,%MKUKATPBASIS,%CINIT,%VCOMMON,%P
;FOLD BAS INI;%{E}%V3.2.0,%MKUKATPBASIS,%CINIT,%VINIT,%P
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
BAS (#INITMOV,0 )
;ENDFOLD (BAS INI)
;ENDFOLD (INI)

BAS(#VEL_PTP, 10)
BAS(#ACC_PTP, 10)
PTP $POS_ACT
$APO.CDIS=0.1
$APO.CORI=1
$APO.CVEL=100
$APO.CPTP=50
BAS(#VEL_PTP, 75)
$IPO_MODE=#BASE
$TOOL=TOOL_DATA[1]
$VEL.CP=0.083
EX_BASE(17,2)
LIN {X 2273.13,Y 889.88, Z 488.05, A -2.44, B -37.39, C -27.13, E1 0} C_VEL
LIN {X 422.11,Y 77.03, Z 934.75, A -134.85, B 11.65, C -90, E1 62.7} C_VEL
LIN {X 422.11,Y 77.03, Z -12.22, A -134.85, B 11.65, C -90, E1 62.7} C_VEL
LIN {X 415.01,Y 84.08, Z -12.22, A -134.85, B 11.65, C -90, E1 62.71} C_VEL
LIN {X 407.92,Y 91.13, Z -12.22, A -134.85, B 11.65, C -90, E1 62.72} C_VEL
$VEL.CP=0.167
LIN {X 407.93,Y 91.13, Z -12.26, A -134.85, B 11.65, C -90, E1 62.72} C_VEL
LIN {X 407.98,Y 91.18, Z -12.64, A -134.85, B 11.65, C -90, E1 62.7} C_VEL
LIN {X 408.11,Y 91.31, Z -12.98, A -134.85, B 11.65, C -90, E1 62.66} C_VEL
LIN {X 408.3,Y 91.51, Z -13.25, A -134.85, B 11.65, C -90, E1 62.58} C_VEL
LIN {X 408.55,Y 91.76, Z -13.43, A -134.85, B 11.65, C -90, E1 62.5} C_VEL
LIN {X 408.82,Y 92.03, Z -13.5, A -134.85, B 11.65, C -90, E1 62.4} C_VEL
$VEL.CP=0.2
LIN {X 409.17,Y 92.39, Z -13.5, A -134.72, B 11.65, C -90, E1 62.27} C_VEL
LIN {X 409.52,Y 92.74, Z -13.5, A -134.59, B 11.65, C -90, E1 62.14} C_VEL
LIN {X 409.87,Y 93.1, Z -13.5, A -134.46, B 11.65, C -90, E1 62.01} C_VEL
LIN {X 410.22,Y 93.46, Z -13.5, A -134.33, B 11.65, C -90, E1 61.89} C_VEL
LIN {X 410.57,Y 93.82, Z -13.5, A -134.21, B 11.65, C -90, E1 61.76} C_VEL
LIN {X 410.92,Y 94.17, Z -13.5, A -134.08, B 11.65, C -90, E1 61.63} C_VEL
..........
LIN {X 204.81,Y 469.4, Z -40.5, A 11.64, B 11.65, C -90, E1 -84.09} C_VEL
LIN {X 205.79,Y 469.6, Z -40.5, A 11.38, B 11.65, C -90, E1 -83.83} C_VEL
LIN {X 206.77,Y 469.79, Z -40.5, A 11.13, B 11.65, C -90, E1 -83.58} C_VEL
LIN {X 207.76,Y 469.98, Z -40.5, A 10.87, B 11.65, C -90, E1 -83.32} C_VEL
LIN {X 208.74,Y 470.17, Z -40.5, A 10.61, B 11.65, C -90, E1 -83.06} C_VEL
END

DEF EX_BASE(BASE_NO :IN,MACH_IDX :IN)
INT BASE_NO , MACH_IDX
MY_FRAME = BASE_DATA[BASE_NO]:{x -250.0,y -250.0, z 1000.0, a 0.0, b 0.0, c 0.0}
$BASE=EK(MACHINE_DEF[MACH_IDX].ROOT, MACHINE_DEF[MACH_IDX].MECH_TYPE,BASE_DATA[BASE_NO]:{x -250.0,y -250.0, z 1000.0, a 0.0, b 0.0, c 0.0})
$ACT_BASE=BASE_NO
END