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Hey, everyone, I desperately need some help.
We are tied up with a deadline, and all that's left from configuring KUKA KR360 with KRC4 controller is definition of safety zones, at our buyer's site.
We are using SafeOperation v3.2.
Tool and base have been defined.
When defining a safety zone in safety configuration - monitoring spaces, offered options to configure a space to monitor are
OXYZ, AngABC of the origin of the monitoring space and minXmax, minYmax, minZmax size of the monitoring space.
However because of the external axis, E1, KRC4 compares the defined monitoring space to $POS_ACT, which is wrt $BASE, and same coordinates can occur at two places along the external axis, which stops the robot at two different positions.
Forgot to mention that when entering monitoring space parameters, reference frame chosen is $WORLD.
thanks