Option SoftMove (ABB) for KUKA

Hello,

There is an option called KUKA.VectorMove. On the surface it looks similar to the ABB description...

good luck
vds

I don't know how to have a kuka robot applying a determined force along a vector, but if you just neet to set one or more "soft" axes, you can apply a torque limitation:

I wrapped the KUKA functionality in this function:

GLOBAL DEF limit_torque(ax:IN,range:IN)
   INT ax
   REAL range
   DECL TorqLimitParam limits 
   IF range>0 THEN
      limits.monitor = #OFF
      limits.max_lag=  90
      limits.max_vel=  600
      limits.lower =   -$TORQUE_AXIS_MAX[ax]*(range/100)
      limits.upper =   $TORQUE_AXIS_MAX[ax]*(range/100) 
      SET_TORQUE_LIMITS(ax, limits)
   ENDIF
END

And to make axis 1 pushable by hand for 10 sec, you can do:

limit_torque(1,0)
PTP $POS_ACT
WAIT SEC 10
RESET_TORQUE_LIMITS(1)

BE CAREFUL WHEN LIMITING THE TORQUE OF OTHER AXES!

diglo