I have a KUKA robot, working in a workstation, when robots executor workbench will move, to move data through the PLC to send to the robot.How can make the robot trajectory based on PLC send mobile data adjustment path?
I know kuka has SeamTech Tracking option packages, can satisfy my needs, but I don't want to use, who doesn't have a little bit more simple method?Thank you very much
KRC4 KSS 8.2
adjustment path
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ss.sun -
September 23, 2017 at 10:10 AM -
Thread is marked as Resolved.
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For realtime path correction, the only options are Seam Tracking, RSI, or (possibly) the Function Generator. The FG is the only one that's not an option for the KRC, but it's not very easy to use, or well-documented, for amateurs.
If you only need a simple one-time correction, after measuring a work piece, that can be done via simple data transfer from a PLC and using the Geometric Operator in KRL to perform a Base shift.
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For realtime path correction, the only options are Seam Tracking, RSI, or (possibly) the Function Generator. The FG is the only one that's not an option for the KRC, but it's not very easy to use, or well-documented, for amateurs.If you only need a simple one-time correction, after measuring a work piece, that can be done via simple data transfer from a PLC and using the Geometric Operator in KRL to perform a Base shift.
Thank you very much, according to your advice I've been using RSI tested for a period of time.
I am using $ANIN[1] adjust the robot trajectory , I want $ANIN [1] the value of the constant, such as 0.5, is there any good method?
I see RSIVisual PID function, this is how to use? -
If you are using $ANIN[1] to control the trajectory, why would you want it to be a constant value?
RSI is, basically, a method to drive robot motion directly from input signals. But doing this smoothly normally requires tuning and shaping the interaction between the Input objects and the Motion objects -- the PID object is one option for this. You will also probably need to add some scaling to convert the $ANIN value to a matching mm of motion.