How are you!
I am new at kawasaki robot, during making the OLP, I was try to find out a way to send out signal once robot arrive the target point accurately,
or closest to target point according to accuracy value.
There has a doc to describe this function :
SIGPOINT #POINT, SIGNAL Index1, SIGNAL index 2,……
Output the specified signal at the point closest to the teaching pose in the path
SIGPOINT #B1, 1
SIGPOINT #B2, 2
SIGAPPRO DISTANCE,SIGNAL Index1, SIGNAL index 2,……
Output the specified signal from the point at the end point of the path that is away by the specified distance
SIGAPPRO x, 1
SIGDEPART DISTANCE,SIGNAL Index1, SIGNAL index 2,……
Output the specified signal from the point at the beginning of the path that is away by the specified distance
SIGDEPART x, 1
After reading the spec, I make a simple program to test it, and received the fault P2006.
Sorry that I've reach the maximum number of attachments allowed, so I directly post the program here:
.PROGRAM pg001() #0
SPEED 100 ALWAYS
ACCURACY 100 ALWAYS
step = 29
step = 30
step = 31
step = 32
BITS step,4 = 0
POINT tgripper1 = TRANS(0,0,50,0,0,0)
SIGPOINT #testpos, 29
I've double check the spec book, and can't find out the reason.
Does anyone has such experience on this function? Thank you!