Hello to everyone,
I have been working with KUKA robots for the past 6 months and i must admit that the forum has helped me a lot on a number of issues. Thank you for this initiative!
The KUKA system software i have been working with is the 8.3 version.
For our application, we have a number of subprograms (around 200) that will be executed in External mode and controlled through a PLC and we would like to check before each subprogram execution, that the robot is in a know and well defined position (preferably check the joint values; suggestions on position values are welcome) and more specifically in the last point of the previously executed subprogram.
Our thinking for doing this is to create another subprogram, where the desired axis joint values (A1 to A6) will be manually entered as an input and the subprogram will make a comparison of current joint values with the desired ones (tolerance of +-0.2 degrees per axis). In case there is a deviation greater of 0.2 degrees in each one of the axis, a message will be displayed to the operator through the HMI.
In attachment you may find the subprogram we have been working on.
Is there another way to deal with this issue?
How can we acquire the actual joint values from the robot that rests on a specific position and compare them with the desired ones?
Any help or advise on how to resolve this issue is more than welcome and appreciated.
Thank you in advance,