Hello Everyone,
KSS version=V8.3.32, controller type=KR C4 smallsize, robot type=KR6 R900 sixx
Axis 6 limits (default): -350 deg <----0 ---> + 350 deg
I have attended kuka training 1 and this is my first application....
There is one taught pickup position, however many taught place positions. The robot moves to the place position depending on the variant running, which comes from an external PLC. I noticed something when running only one of the variants.
My "PICK" position is a taught E6POS position.
A6 position = -75 deg at this position.
I have a calculated "pick wait" position which is 100mm offset in tool X, achieved via the geometric operand. I move there using
PTP PICK : {x -100, y 0, z 0, a 0, b 0, c 0} C_DIS
The command before moving to the PICK wait is a PLACE move. The "PLACE" position is a taught E6POS position. When teaching the PLACE position, I can either have A6 = -236 deg or +144 deg.
I taught it at +144 deg due to the running of the pneumatic cables.
When I ran this in auto, I noticed that at the "pickup wait" position, A6 = +285 deg (-75 + 360). i.e. different configuration. My initial incorrect thinking was that how could this happen. I was using a PTP move and PTP always uses status and turn to ensure the correct configuration. Ok, so that was wrong big time. My use of the geometric operator was
POS: FRAME --> result is FRAME and frame ignore S and T.
The robot after completing PLACE looked to see the shortest path and a A6 move of "+285-144 = 141 deg" is shorter than "+144+75= 219 deg" so it went that option. Is that what is going on?
The issue is, I want the same configuration at pickup wait. I got around this by reteaching the place position to have A6 = -236 deg. Now A6 only has to move 236-75 = 161 deg (instead of 236 + 285) and it takes this option.
Is there another way of ensuring I have the correct configuration at pickup wait?