Hello everyone,
i am new to the KUKA KRC2 programming and i have a big misunderstanding: what is the difference between the tool_data and the base_data please? when i create points i have to define for each a tool_data and a base_data right? so if i want to modify the position of a point , according to wich landmark should i move the position of the point?
difference between tool_data and base_data
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rossi -
September 10, 2018 at 3:14 PM -
Thread is marked as Resolved.
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[size=2]bases are (usually stationary) frames in space, relative to WORLD.[/size]
[size=2]tool are (usually mobile) frames in space, relative to FLANGE.[/size][size=2]to send robot to a point in space you need both. when robot is at the target point[/size]
[size=2]WORLD>BASE>POINT is same as WORLD>ROBROOT>FLANGE>TOOL[/size][size=2]check system integrator manual or consider taking Kuka training.[/size]
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Thank you very much panic mode.
I don't have the possibility to take kuka training at the moment.
In fact i want to modify the code made by someone. He created many linear motions and put them in a counting loop FOR. at each loop cycle he changed the BASE.Z data and so the position of the points change. that works fine.
I would just like to move some points according to the position of the flange. So i changed the TOOL.X (i want to move them according to the x axis of the tool defined) before the motions. But it doesn't work. The points are still in the same position. So i don't know if i should rather change the BASE data. -
without knowing what your code looks like its hard to help. first off it's not clear why you want to switch from adjusting your base to adjusting your tool. especially when the base movement is probably programmed by someone how knows what he is doing and you know it works.
Second you say you have changed $TOOL.X and saw no reaction, This depends on your code and your tool configuration. Is the tool configured properly and do you know what direction X is pointing?] -
i don't want to switch from adjusting the base to the tool. i am figuring out how to move a group of points to the same direction.
Yes i know what direction x is pointing in my tool coordinate system. that's why i choose to change the TOOL.X
some points are not pointing exactly where i want. i just want to move them a bit on the left or the right according to the tool i defined ( i don't use the flange coordinate system, i created a tool one)well i know i can just create other points but since they are in a loop FOR wich depends on the BASE.Z but i thought there could be an easier solution.
the code is attached
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Oke i still think you dont really get it, TOOL.x and the direction the tool is moving when you jog is not always the same. This depends on the ABC values in tool_data. also in the code you supplied you never set tool or change $tool.x so how am i to know what you did wrong?
Also if you want to change a group of points you can always edit the .dat file where al the points are stored. -
i see !! I saw the ABC values in tool_data the guy created but i don't know what to do with it. i think i really have to take a kuka training.
For now i will just change the values of the points in the .dat file
thanks a lot !! -
check also the expert programming manual, there is a whole chapter on bases and tools and how the work with each other