INVERSE

Hello.

I have some trouble with the Inverse Fuction in KukaSIM.

I try to use the INVERSE Function, to check if i can reach my Position,

and if i cant reach my position, i will try to recalculate it.

The problem is that, even if i cant reach the position, the err_Status never gives me a faultcode.

Anyone have some suggestions?

Thanks

"Err_Status" is what Kuka calls the "iError" in the manual.

The "WAIT TIME 0.1" Command, is a fault, should be "WAIT SEC 0.1"

And i am currently testing it, in KukaSIM4.0, but maybe that is the problem?

The Robot is a KUKA KR 240 R3200 PA - 4 Axis.

It seems that everytime i have angle value In my E6POS other then 0, the calculated angle on axis 2 is wrong. Its like it "Forgets" That the tool is rotated -180

Example 1:

E6Tmpt=(x 600, Y 468, Z 445, A 0)

E6Result = INVERSE (E6Tmpt, $Axis_ACT, iError)

E6Result.A2 is equel to the actuel A2 axis Pos when the robot Reach the POS.

Example 2:

E6Tmpt=(x 600, Y 468, Z 445, A -180)

E6Result = INVERSE (E6Tmpt, $Axis_ACT, iError)

E6Result.A2 is NOT equel to the actuel A2 axis Pos when the robot Reach the POS

But if i move the robot to the "Pick" position, with a nonrotated tool, the calculation will match the actuel position.

(E6Result.A2 = -21) But the actuel axis pos will be (-5)

Make sense ?

I tried to use like -171 instead of -180, just to varify that its not a problem at its from 0 to -180.

its like that the simulation is ignoring my tool rotation

It is stated in the manual that you only need the start_Axis if you have no Status or turn value, or that you are close to singularity.

I tried before i removed the "Start_Axis" to write "$Target_Status=#SOURCHE", but the result was the same.

The calculated result was = -28, but the actuel pos was -20.

Then i tried to remove the "Start_Axis", with the same result.