Hello everyone.
I want to ask, is there any solution for KUKA in motion, to set a point he would never interact with? Like he chooses the path to avoid this area?
KUKA KRC 15/2 VKRC2 01
Hello everyone.
I want to ask, is there any solution for KUKA in motion, to set a point he would never interact with? Like he chooses the path to avoid this area?
KUKA KRC 15/2 VKRC2 01
Not a point but you can specify space to not enter
It's a complicated question, since there's no way to set a volume that the robot will refuse to enter. You can create Cartesian or Axis workspaces using the $WORKSPACE and $AXWORKSPACE variables, but the only way to "stop" the robot from violating those volumes would be to connect the .STATE variable to something like the robot's $MOV_ENABLE input.
Of course, this has limitations -- the Cartesian workspaces only monitor the TCP, so it's still entirely possible to make part of the robot violate the workspace while keeping the TCP clear.
EDIT: I forgot that you can use the #INSIDE_STOP and #OUTSIDE_STOP settings inside the Workspace variables, so cross-connecting $MOV_ENABLE or another permissive actually isn't necessary.