I want to use Kukavarproxy to communicate with my C# software to do the realtime control. and now through my C# software i can read and write kuka Variables. Howerver, i don't now how to write the program that run on kuka.
I write the program as follow:
DEF KukavarproxyPTP ( )
BAS (#INITMOV,0 )
PTP {A1 0,A2 -90,A3 90,A4 0,A5 90,A6 0}
MYPTP={X 0,Y 0,Z 0,A 0,B 0,C 0}
$ADVANCE=1
LOOP
PTP_REL MYPTP C_PTP
ENDLOOP
END
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To do a simple test,
when the program run into the loop, I use the kukavarproxy (a software that can read and write Variables by using the TCP communication protocol) to set MYPTP= {X 10,Y 0,Z 0,A 0,B 0,C 0} .so the program can be seen as:
I want the robot to keep Continuous motion in the X direction, but in fact it can't continue move, At each 10mm point its velocity drops to zero, and then it starts moving to the next 10mm point.
I don't want the velocity drops to zero, i want it keep moving , how should i do ?