Hello to everyone
I'm trying to enable the Vector Move option.
How can I run setup Mode?
I reviewed the Kuka document. But I did not understand how to configure Setup Mode.
In summary
After a given point P1, vector move is activated. The target point is P2.
However, after the maximum duration, Max Duraction, on the teach pendant, the program ends before reaching the P2 point.
How can I setup the robot such that the program does not terminate before reaching the target point P2.
Code
FOLD PTP P1 Vel=100 % PDAT1 Tool[1] Base[0];%{PE}%R 8.3.34,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P1, 3:, 5:100, 7:PDAT1
$BWDSTART=FALSE
PDAT_ACT=PPDAT1
FDAT_ACT=FP1
BAS(#PTP_PARAMS,100)
PTP XP1
;ENDFOLD
;FOLD VectorMove.ON val: CART2, val: PARAM2;%{PE}%MKUKATPUSER
vm_fct_on(VMCCART2,VMPPARAM2)
;ENDFOLD
;FOLD PTP P2 Vel=100 % PDAT2 Tool[1] Base[0];%{PE}%R 8.3.34,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P2, 3:, 5:100, 7:PDAT2
$BWDSTART=FALSE
PDAT_ACT=PPDAT2
FDAT_ACT=FP2
BAS(#PTP_PARAMS,100)
PTP XP2
;ENDFOLD
;FOLD VectorMove.OFF ;%{PE}%MKUKATPUSER
vm_fct_off(VMCCART2,VMPPARAM2)
;ENDFOLD
Display More