Do all krc4 robots have an absolute accuracy model created? Whenever I encountered a robot with krc2 control, there was no problem with the .pid file. I know that the file name and file extension has changed to krc4 unfortunately I can't see this file anywhere. The files I have are "attachment" . Robot KR240R2900 ULTRA C4 CLG .
Absolute accuracy
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Martin84 -
November 3, 2021 at 10:12 PM -
Thread is Unresolved
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it is easy to see why PID files were called that - they extension was *.PID.
with KRC4, equivalent of PID file is an binary XML file called "prec_robotXXXXXXXXXXX.xml" where XXXXXXXXXXX is the serial number of the robot (10 characters such as 0000123456)
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In KRC4 the file is only stored on rdc. It only gets uploaded temporarily to the hard drive if you create an archive or and krcdiag. In krc2 you always had the file twice. Once on hard drive and once on rdc.
So take a krcdiag and unzip. You will find the xpid file precrob***.xml in the RDC folder. But as Panic says you can not read it. It's now binary and safe against manipulation by a checksum.
Still not all robots have absolute accuracy. But in contrast to krc2 absolute accuracy is always active as soon as a valid xpid file is downloaded to rdc. You can check $abs_accur whether it's active.
Absolute Accuracy Info KRC2 - KRC4
Fubini