Hello everyone,
Tech details:
Rob: KR60 L45-3, KRC4, KSS 8.3.38
Vis: SICK PLB 5.6 + Scanning ruler
I am programing bin picking aplication in vision-based robotic guidance system and encountered an issue.
PLB system sent to robot a valid pick position but apparently the position is not reachable for robot because I got error Software limit switch point cannot be reached: A3+.
I would like to avoid stoping the robot in such situations and just skip this part till the next parts localisation.
The method which came to my mind would be something like this:
Before start robot motion I would like to check if the calculated point is reachable and if not just skip it (I can put coordinates of the pick position to blacklist to avoid it till next scan)
In the KSS manual I found some functions like FOREWARD or INVERSE but since I am not that fluent in KRL I am not sure how to implement these so any advice what would be the simplest method would be appreciated.
I hope my description is not confusing. if it is confusing please ask
Thank you in advance!
Pick and approach points are calculated like this:
DECL Frame PickPos
DECL POS prePickPos
DECL FRAME via,via2
PickPos = $NULLFRAME
via = $NULLFRAME
via2 = $NULLFRAME
base_data[5] = $NULLFRAME
;// Set base 5 to be oriented in the gripping position
base_data[5] = base_data[5] : PLB_PickPoses[1].VerticalCorrection : PLB_result.PartFrame : PLB_PickPoses[1].RelativeToolFrame
via = PLB_PickPoses[1].VerticalCorrection : PLB_result.PartFrame : PLB_PickPoses[1].RelativeToolFrame
;// via and via2 are approach locations which are in the same orientation as pick position, but there is offset values added later in program
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