KUKA circular motion

  • Hi i have a Kr16L6 robot, KR C2 controller and KSS 5.2

    It is possible to make a circular motion with robot axis (A1,A2...) as parameter? Or variable ?

    ex: CIRC {A1 0, A2 100, (....)},{XHOME}

    when XHOME = E6AXIS{A1 , A2, A3, A4, A5, A6, E1, E2, E3, E4, E5, E6}

    or if XHOME = {X ,Y ,Z ,A ,B ,C}

    So, to summarize, are we forced to use Axis coordinate for circular motion? because they are influence by the base and its not friendly...

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  • [size=2]read manual...[/size]

    [size=2]all motion instructions accept variables as parameter. several variable types can be used. most of them are Cartesian, usually only six home positions are axis specific. [/size]

    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

  • If you need axis specific positions in a CIRC you can use FORWARD zu calculate the corressponding cartesian position. It should look something like this:

    CIRC FORWARD(A1, ..., E6), FORWARD(A1, ..., E6) CA 250


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