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Position of program pointer during approximated motions

  • lorenzo369
  • February 22, 2021 at 10:26 AM
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  • lorenzo369
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    • February 22, 2021 at 10:26 AM
    • #1

    Hello to everyone, thank you in advance

    I have this question about Kuka language:

    When I am in the middle of some approximated points (C_DIS with LIN or PTP motions, I use a while loop to generate the whole trajectory), there is a way to put a counter in order to know where the robot is ? the problem is that all the logic is executed immediately by the advance pointer.

    In other words, how can I know where the program pointer is during approximations?

    I need this because I want to be able to recover from the middle of the trajectory in case the operator deselect programs, right now I am saving all motion data in a matrix already.

  • hermann
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    • February 22, 2021 at 12:47 PM
    • #2

    Trigger is your friend. For example:

    Trigger when distance=0 delay=0 do variable=variable+1

  • lorenzo369
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    • February 22, 2021 at 1:16 PM
    • #3
    Quote from hermann

    Trigger is your friend. For example:

    Trigger when distance=0 delay=0 do variable=variable+1

    Right!!!!! Thank you very much.

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