How to Repeat a group of movements

Joe27 · February 22, 2021 at 1:26 AM

Hi All,

I have a Kuka KR4, with a compact controller that I am trying to do some basic programming on. I'm fairly new to this, so this may be a basic question for all, so apologies if that is the case

I want to redo a movement in multiple locations and not sure the best way to set this up. Think of it like I have a group of movements that traces out the letter "W". I want to do this multiple times in the workspace with a new start point for each "W".

At present I have defined the movement in the Base coordinate system, but not sure how to make it such that I can repeat the movement path with a new starting point (without doing each "W" as a new set of point).

I'm sure there is an easy way, but I am not sure where to start searching to do this. Any pointers would be much appreciated

**panic mode** · February 22, 2021 at 1:34 AM

there are different ways to go about it:

1. recalculate positions

2. offset base

3. use relative motions

**SkyeFire** · February 22, 2021 at 3:21 PM

An array of points:

Code

DECL FRAME Array[5]
Array[1] = {X 0,Y 0,Z 0,A 0,B 0,C 0}
Array[2] = {X 100,Y 0,Z 0,A 0,B 0,C 0}
Array[3] = {X 100,Y 100,Z 0,A 0,B 0,C 0}
Array[4] = {X 0,Y 100,Z 0,A 0,B 0,C 0}
Array[5] = {X 0,Y 0,Z 0,A 0,B 0,C 0}

DECL INT Index

FOR Index = 1 TO 5
  LIN Array[Index]
ENDFOR

Display More

To do the same with Base offsets:

Code

DECL E6POS MyPoint

MyPoint = $POS_ACT_MES ; set to current physical position
FOR Index = 1 TO 5
  $BASE = BASE_DATA[1] : Array[Index] ; active base is BASE_DATA[1] plus the offset
  LIN MyPoint
ENDFOR

Point Offsets:

Code

DECL E6POS MyPoint

MyPoint = $POS_ACT_MES
FOR Index = 1 TO 5
  LIN MyPoint : Array[Index] ; point plus offset
ENDFOR

Joe27 · February 22, 2021 at 11:40 PM

Thanks all - from a little more searching, I found a similar example here using the base offset:

Kuka Subprogram/array

So I adapted that code for my application, and it seems to be working - now I just need to adapt it to add the real code/offsets etc

Thanks so much for the help

Code

&ACCESS RVP
&REL 2
DEF DB_BC_FOLD_TEST_base_off()
  DECL INT X,Y; variable used for loop counter
  DECL INT X_Max, Y_Max ; variables that specify number of repetitions
  DECL REAL dX, dY ; offsets
  DECL FRAME Ofs ; this is the base offset


  dX = 0 ; X-offset
  dY = -3; Y-offset

  X_Max = 1; one row
  Y_Max = 2 ; four columns

  Ofs=$nullframe
  ;Base 3 is the original values for the Fold Base
  ;Base 2 is the one that is offset and moved each time
  BASE_DATA[2] = BASE_DATA[3]; ReSet Base 2 (from 3) incase the program was interrupted
   
     FOR X=1 to X_Max
       FOR Y=1 to Y_Max
          Ofs.X = (X-1)*dX
          Ofs.Y = (Y-1)*dY
          BASE_DATA[2] = BASE_DATA[2]:Ofs ; Offset Base[2] 
          DB_test01(); Deburring program (for 1 channel)
       ENDFOR
     ENDFOR
  BASE_DATA[2] = BASE_DATA[3]; Reset Base 2 to the original values 

END

Display More

How to Repeat a group of movements

Advertising from our partners

How to see your Job Posting (search or recruit) here in Robot-Forum.com

Tags