I am somewhat new to KUKA robots and I am trying to develop a smooth robot motion as a demonstration. I tried reading through the documentation on spline motion, and tried implementing a spline motion on my KRC2. I have attached a picture of the code that I wrote, and when I execute the program it doesn't even execute the spline motion. Would someone be able to help me understand why this isn't working and perhaps how to correct it?
Issue/Help Learning Spline Motion
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therobotman -
June 14, 2018 at 9:58 PM -
Thread is marked as Resolved.
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speed is ridiculously low and you only have one point. how far is that from previous point P14?
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I went ahead and changed the speed back to 2 m/s. Do you mean to ask how far away the spline point is from P21 or PTP HOME? Those are the points before the SPLINE.
I tried to troubleshoot this, but when I tried to run the program, I get an "INTERRUPT 3 not defined". It also opens up the Callerstack(Robot) side window on the right hand side. I have no idea what this is. See the new screenshot attached for more info
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check content of your INI... interrupt 3 declared there.
it calls ISR that stops robot motion when something wrong happens.