Hi everyone,
i am relatively new to Kuka and i am trying to develop a system where poses are sent to a KR C4 (8.3.x) via Ethernet, stored as FRAME/POS/E6POS/AXIS or E6AXIS -arrays and processed later (LIN, PTP).
Let's say i use an array E6POS myPoses[1000] to store poses. I can then populate them by setting X,Y,Z,A,B,C,E1...E6,S,T via
Then, i can do
to move along my poses.
Question 1:
Now, what if i do not know S,T or do not want to specify some of the external axes?
I know i can leave parameters out in "immediate mode", i.e. "PTP {X 3.4, Y 4.2}", but if i have the myPoses struct and fill it first, i suppose "myPoses[j].Z" is predefined and exists in any case - wheter i explicitly do "myPoses[j].Z=..." or not - right?
Question 2:
Since i do not have an external axis here to test this - when i do "LIN {X 1, Y 2, Z 3, A 4, B 5, C 6, E1 20}" does that mean "go to the xyzabc in #BASE and ensure that E1==20"? So this only works if xyzabc is reachable from E1==20?
Question 3:
Is "LIN {X myPose.X, Y myPose.Y}" indeed impossible? Cannot use variables here, only literals? Then how can i "LIN" to a "variable"?
Any appreciated here ...