Good day, can someone help me with the orientation control during the circular motion?
I want to do a weld around a cylindrical workpiece, the angle of incidence to the center of the circle and to the base should be permanent for each point of the circle.
In the Kuka expert programming the following parameters: $ORI_TYPE=#CONSTANT, $CIRC_TYPE=#PATH, but it's not working.
PTP $POS_ACT
$ORI_TYPE =#CONSTANT
$CIRC_TYPE=#PATH
;FOLD CIRC P7 P8 Vel=2 m/s CPDAT27 Tool[1]:Tool_1_LEFT_LONG Base[2]:TSK_2500_U 2;%{PE}%R 8.3.34,%MKUKATPBASIS,%CMOVE,%VCIRC,%P 1:CIRC, 2:P7, 3:P8, 4:, 6:2, 8:CPDAT27
$BWDSTART=FALSE
LDAT_ACT=LCPDAT27
FDAT_ACT=FP8
BAS(#CP_PARAMS,2)
CIRC XP7, XP8, CA 300.0 C_DIS
;ENDFOLD
I heard about option #ORI_TYPE=#ORIGINAL, can anyone help? Thanks in advance