Rotate the A6 axi every 2 degrees until it reach the 360.

Hi

Its possible to rotate the 6 axis in incremental way.

I need to rotate every 2 degrees until it reach the 360.

How can i do it ?

I already made a project by offset, but its (X, Y , Z) in angle i search the documentation i cant solve it.

My robot is a kuka KRC2. i have a similar program in Abb. but is Kuka I don't know

Thanks

in Abb is like that
in abb program is like this :
VAR jointtarget jpos10;
VAR num nAxis6Pos;

WHILE nAxis6Pos < 360 DO
jpos10:=CJointT();
jpos10.robax.rax_6:=jpos10.robax.rax_6 + 2;
nAxis6Pos:=jpos10.robax.rax_6;
MoveAbsJ jpos10, v100,fine,tool0;
ENDWHILE

the objective

I have the robot connect to a stamping press, and the robot holds a piece , and i need to rotate 2 degress and then the stamping press makes a hole, and repeat this until a full cyclye 360 degrees.

the piece have (360 / 2 ) = 180 holes .

I will test today your code.

Thanks

Hi

My mistake , the robot is KRC1.

The program dont work , its possible because of KRC1 ?

Thanks

the problem when I copy the program, the part "Joints.A6 + 2.0" gives error and don't compile. I think its missing some part.

can you help me with a simple program ?

DECL AXIS Joints

Joints = $AXIS_ACT
WHILE $AXIS_ACT.A6<360
Joints.A6 = Joints.A6 + 2.0
PTP Joints
ENDWHILE

I have experienced in abb robots, but in kuka I’m starting know.

I post 2 photos of the errors with the sample program.

Maybe I’m make a newbie error, but as I said im starting in kuka.

Looking at the photos, it’s normal ?