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touch up invalid problem

  • ebb
  • March 15, 2018 at 5:29 PM
  • Thread is Resolved
  • ebb
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    • March 15, 2018 at 5:29 PM
    • #1

    hello dears

    i have a kuka robot (KR C4)
    i have a problem and i can not touch up my robot.

    PTP motion[1] C_PTP C_VEL

    i can not change the position.

    when i push touch up, i have invalid message.

    how can i solve that?

    thanks for your helps

    Images

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    Edited once, last by ebb (March 15, 2018 at 5:35 PM).

  • panic mode
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    • March 15, 2018 at 6:21 PM
    • #2

    use inline form motion instruction or buy ExpertTech

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

  • ebb
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    • March 15, 2018 at 6:27 PM
    • #3

    i can not change anythings
    i only want to change position.

    there is not any way to change position?
    can you describe a little more?

    thank you so muuuuuch

  • panic mode
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    • March 15, 2018 at 6:33 PM
    • #4

    well, you can edit point manually using variable monitor or variable overview etc.


    but ... if you want to TOUCH-UP... you need one of the two options mentioned.

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

  • davidina
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    • March 15, 2018 at 6:43 PM
    • #5

    I once had a similar problem with Touch-up at a site, but I deselect/disabled the Submit Interpreter at the touchup position and enabled it after. Or by OPENING (not the option select) the .src program, touch-up, save, close and then select it to run worked for me

  • ebb
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    • March 15, 2018 at 6:47 PM
    • #6

    i did a lot of project with fanuc and abb and kawasaki
    but its first time im working with kuka

    can you help me about "variable monitor or variable overview etc."?
    can you give me a document about those?

    thank you so much

  • ebb
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    • March 15, 2018 at 6:49 PM
    • #7
    Quote from davidina


    I once had a similar problem with Touch-up at a site, but I deselect/disabled the Submit Interpreter at the touchup position and enabled it after. Or by OPENING (not the option select) the .src program, touch-up, save, close and then select it to run worked for me

    can you describe a litle more and with detail.

  • ebb
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    • March 15, 2018 at 6:52 PM
    • #8
    Quote from ebb


    i did a lot of project with fanuc and abb and kawasaki
    but its first time im working with kuka

    can you help me about "variable monitor or variable overview etc."?
    can you give me a document about those?

    thank you so much


    i found document about variable monitoring.

  • panic mode
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    • March 15, 2018 at 6:55 PM
    • #9

    you should also see where this variable is declared and how it is initialized.
    if the variable value is calculated, you will need to apply adjustments in the program code...

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

  • ebb
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    • March 15, 2018 at 7:03 PM
    • #10
    Quote from panic mode


    you should also see where this variable is declared and how it is initialized.
    if the variable value is calculated, you will need to apply adjustments in the program code...


    in the picture i attached it for you you can see motione[1]

    some line above
    PTP motion[1] C_PTP C_VEL

    you can see
    Motion[1]=tooloffset(xppickrotor,150,0,-200,0,0,0)
    i think xppickrotor is position variable and 150,0,-200 is offset of xppickrotor
    is it correct?

    and i have to find xppickrotor in variable monitor and change that
    yes?

    thanks for your help

  • ebb
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    • March 16, 2018 at 5:47 AM
    • #11

    ???

  • davidina
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    • March 16, 2018 at 6:32 AM
    • #12

    This was how I did it then: Move the robot to the position you want to teach. On the KUKA KCP picture you attached there is a green letter S button(Submit Interpreter button), stop it ans deselect it. After this cancel the current open .scr program, and then "Open" (not "Select") it. Scroll down to where you want touchup, select the Motion command and then Cmd OK. After creating it, then Touch-up. The change will be automatically changed when you close the file.

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    SkyeFire
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    • March 16, 2018 at 1:22 PM
    • #13

    Who created this program?

    On KUKAs, the TouchUp button only works on points that have been created on the pendant, with the full inline-form support. Your program appears to have motions hand-programmed in "raw" KRL (using arrays of E6POS), which cannot be affected by the Change or TouchUp buttons.

    The one exception to this is to install the ExpertTech option, and create the program with placeholders that can later be set using the TouchUp button (but only once, IIRC).

    The other potential workaround would be to jog the robot to the position you desire, select the correct Tool and Base, access the position variable in DISPLAY>VARIABLE>SINGLE, and type $POS_ACT_MES into the "New Value" box and press "Set Value."

  • ebb
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    • April 4, 2018 at 10:03 AM
    • #14

    thank you everybody
    the problem is solved.

  • displaycharlie
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    • December 30, 2021 at 10:49 PM
    • #15

    Hello, am wondering how you solved this? I also ran into the same issue and i take it that you simply cannot touch up a point that has been made in work visual?

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    SkyeFire
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    • January 4, 2022 at 4:52 PM
    • #16
    Quote from displaycharlie

    i take it that you simply cannot touch up a point that has been made in work visual?

    Created how? Details matter. If you simply have a PTP P1 command or similar in your .SRC that's not part of a complete ILF, then no, TouchUp doesn't work.

  • AnthonyR
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    • April 12, 2022 at 12:11 AM
    • #17
    Quote from SkyeFire

    Created how? Details matter. If you simply have a PTP P1 command or similar in your .SRC that's not part of a complete ILF, then no, TouchUp doesn't work.

    For instance, I used robodk as a simulation program because we don't have a kuka simulator, when you export a program with robodk it gives you something like this :

    BAS (#INITMOV,0)

    BAS (#VEL_PTP,100)

    BAS (#ACC_PTP,20)

    $VEL.CP=0.2

    BAS (#TOOL,0)

    BAS (#BASE,0)

    LIN {X -211.000,Y -7671.000,Z 1485.000,A -90.000,B 0.000,C 180.000,E1 -10500.00000,E2 0.00000}

    On one of our robot I can touch-up these points and when I do it says TPEXPERT 7700 at the top which I assume is some option that Panic Mode was talking about?

    Then I tested the touch-up on the other robot next to it, which is the same robot really and it gives me the invalid module error... I'm guessing they don't have the same options.

  • Jeremy RoboDK
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    • April 14, 2022 at 10:26 PM
    • #18

    You can try using the "KUKA KRC4 DAT" post processor.

    I think it might solve your issue.

    Jeremy

    RoboDK - Simulation and Offline programming software for industrial and collaborative robots.

    Visit us at RoboDK.com
    Take a look at our tutorial videos on our YouTube channel.

  • hermann
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    • April 15, 2022 at 8:05 AM
    • #19
    Quote from AnthonyR

    .. I'm guessing they don't have the same options.

    You are right. The missing option is something like 'expert tech'.

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Tag Cloud

  • abb
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Thread Tag Cloud

  • abb
  • Backup
  • calibration
  • Communication
  • CRX
  • DCS
  • dx100
  • dx200
  • error
  • Ethernet
  • Ethernet IP
  • external axis
  • Fanuc
  • help
  • hmi
  • I/O
  • irc5
  • IRVIsion
  • karel
  • kawasaki
  • KRC2
  • KRC4
  • KRC 4
  • KRL
  • KUKA
  • motoman
  • Offset
  • PLC
  • PROFINET
  • Program
  • Programming
  • RAPID
  • robodk
  • roboguide
  • robot
  • robotstudio
  • RSI
  • safety
  • Siemens
  • simulation
  • SPEED
  • staubli
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  • workvisual
  • yaskawa
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