Monitor or reference current robot position

If the robot starts in certain positions it needs to move up in the Z to clear fixtures. I cant seem to find how to reference current rob pos in the manuals, I found the LIN $POS_ACT for clearing.

KR 20 R1810-2

KRC4 NA UL SC5.1

work visual V6.0.16

thanks

Quote from Mentat

I am fairly sure, this could have been found in expert programming manual. The variable is $Pos_act - current position of the current tool in current base.

I thought LIN $POS_ACT was for moving say 50 in the z? How do I know where I am?

if z position is < 100 then LIN $POS_ACT:{X 0, Y 0, Z 50, A 0, B 0, Z 0}

how do I know my robots z position?

thanks for the help

Quote from panic mode

try

LIN $POS_ACT:{X 0, Y 0, Z 50, A 0, B 0, Z 0}

or

LIN_REL {Z 50}

Both of these commands will indeed go 50 in the z.

My problem is how do I know where my Z currently is?

IF (current Z position is < 100) THEN LIN_REL {Z 50};

I need help monitoring or referencing current Z position.

thanks again.

Quote from SkyeFire

Code

IF $POS_ACT.Z < 100 THEN
  LIN $POS_ACT : {X 0,Y 0,Z 50,A 0,B 0,C 0}
ENDIF

$POS_ACT is the robot's current Cartesian position. LIN $POS_ACT will basically move the robot to where it already is.

The : is the "Geometric Operator". It "multiplies" the position on the left with the position on the right, and returns the result. Another way to do the same operation as above would be:

Code

DECL POS TemporaryPos
IF $POS_ACT.Z < 100 THEN
    TemporaryPos = $POS_ACT : {X 0, Y 0, Z 50, A 0, B 0, C 0}
    LIN TemporaryPos
ENDIF

The first version is just a more compact way of doing the same thing.

Note: $POS_ACT_MES is the "better" version of $POS_ACT, available starting with KSS version 8.

This worked as expected, thanks for the run down.

my current issue is when I try to move up it throws a "Impermissible start position".

I found some other posts talking showing how to do this with a PTP move and that works for one scenario, but the second scenario my EOT needs to move LIN or it will crash.

$BASE = SBASE(1)
                        ; this part works 
if ($pos_act.z > -290) and ($pos_act.z < 100) and ($pos_act.x > 1000) then
    SPTP P_PrePickPosition CONT Vel=100 % PDAT13 Tool[1]:Tool1 Base[1]:casepacker
endif
                       
                         ; this part throws fault
if ($pos_act.z > -300) then 
    SLIN p_clearring Vel=2 m/s CPDAT33 Tool[1]:Tool1 Base[1]:casepacker
endif 

I understand my code here can be cleaner, I'm trying to figure out the issue before refining.

thanks

Quote from hermann

Do a 'ptp $axis_act' before the Slin or Lin command.

Thats it, thank you sir.

Quote from MOM

was this just basics?

what?

Quote from Mentat

I think MOM is just expressing his incredulity that you claimed to have read the manuals and still had questions about such basic matters.

why is it almost every post on this site has replies from people who act like theyre being bothered?
Ultimately I know why, small men take pleasure in putting others down.

Quote from MOM

@GeneralDread

Ok, I am one of the small men (as you guess) and I am having pleasure putting others down.

This forum wants to help all of the ones having problems and ask for a solution.

What my intension actually was:

- Did actually hermann gave you the final kick (answer)?

because

- No solution found in kuka documents?

- or?

If I insulted you then I really want to apololize because this was never my intention

Display More

He did give the final answer, none of the manuals I have reference ptp $axis_act' After I was given the secret command I went back and searched for it.

Dont worry about, I was going to leave it alone. Mentat asked so I answered.