Hello,
I want to know about S and T that we put in program I mean I couldn't know which value should be in order to be able to move the robot without having problem in any of the axis.For example :PTP BASE1:{POS: X 540,Y 630,Z 1500,A 0,B 90,C 0,S 2,T 35}
S and T cartesian coordinates
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jojo -
May 29, 2016 at 12:14 PM -
Thread is marked as Resolved.
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Hi, sorry for a late response.It would be helpful to know what type of robot/controller you are using or researching to better understand the issue you are having. I believe the S and T coordinates are for a second kinematic system, such as if a robot is connected to a trolley that can move in a plane (hence 2 more coordinates). My current robot and controller are a KUKA LBR iiwa R800 with a Sunrise cabinet controller, and if our robot were not floor mounted and instead mounted on a portable trolley (seen in some of KUKA's commercials) then it would require 2 more axes in its cartesian coordinate system in order to fully function. If a robot were to not have these axes present, then their values should remain constant regardless of their value, as there is no way for the robot to control non-present axes.
Hope this helps!
-AlexHi Alexander,
I am sorry to say this but you got it all wrong. S and T are the status and turn which does not determine the number of axes but they are used to define the position of the robot in the workspace. They help us to define several axes positions of the robots because a robot can reach to the same point in a plane having various axes positions. So, to define the axes positions unambiguously we use S and T. You can find a detailed explanation in expert programming manual (page 62) with examples about S and T.
Thanks
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Hi,
In the folder UTIL/KUEWEG from C: Drive of the robot you can find .src files with a function that does excatly what you want to do, calculate the ST for a DstiniyPoint(ZielPunkt) from a StartPoint (StartPunkt) . Quite tricky though.
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RS Thanks for putting it straight for me. It was a hunch, probably should have said that in my first reply.
Thanks!
-Alex -
RS Thanks for putting it straight for me. It was a hunch, probably should have said that in my first reply.Thanks!
-AlexNo problem. This is what we call learning curve. I am also learning everyday and sharing what I know.
Thanks