Hello, Iam stil kinda begginer in KUKA programing, using KR10, KRC compact with 8.3.31. I wanna make a simple paletizating program where at the start of program i calculate all points of pallete and store them in 3D array of FRAMES. I am calculating them from 1 teached XDEFAULT_POINT (6EPOS). That works perfectly, but when robot move to some this possitions by basic PTP, A6 turn around 360 deg. The end possition is same as calculated, but the unwanted 360 turn annoys me when he can drive to it without that turn. What should i change? Array type? parrametr of PTP motion? PLS HELP
unwanted turn in A6
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Krulik -
June 28, 2017 at 2:16 PM -
Thread is marked as Resolved.
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Hello. When you TouchUp your reference point, it also stores S and T values. So I would check correct T value in that error position for axis 6.
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Hello. When you TouchUp your reference point, it also stores S and T values. So I would check correct T value in that error position for axis 6.It does store status and turn, but if he is using a frame, that data is discarded.
Is the position before the palletizing point a frame or an E6POS? Try teaching that point 360 from it's current and see what happens.
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Redefining of arraz doesnt help. There is problem with singularity in A4 and A6. I dont realy know how to fight with them efficiently ...just thinking about adding a little wedge betwen robot and gripper....
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PTP motions don't have singularities
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... as long as the target position of a ptp is not teached cartesian inside a singularity.
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... as long as the target position of a ptp is not teached cartesian inside a singularity.But in that case, I would expect to see the entire wrist flip over, and A4&A6 both to rotate 180deg in opposite directions. This sounds like A6 is rotating 360deg, by itself.
Hm... what is the relationship between A6 at the starting position, the final position, and your SOFTx_END[6] values? If your calculated FRAME variable would drive A6 past a limit going the "short" way, then the motion planner might go the long way around, which would force A6 to rotate ~360deg while leaving A4 and A5 untouched.
Is there any chance A6 has been set to Endless mode, rather than Rotational?