We have ordered a Kuka KR10 R1100-2, and I am now in the proces of creating a simulation for it using KukaSim (the robot will not arrive for a few months but I want to start programming / testing in simultation). In KukaSim I am using RCS version Kuka 8.6, and controller firmware version 8.6.6. (these were the default settings). I am using KukaSim 4.0 and have purchased a floating license.
One of the things I want to achieve is for the robot gripper to track a product and move in and out to perform an operation on this product. I have now acchieved this by making a for loop where I increment Base_data.X by 10, followed by a SLIN move command. The problem I have with this code is that the speed is not correct because the movement is composed of 100 small movements, and after each movement the robot decelrates and accelrates, blending does not seem to work here.
FOR COUNTER = 1 TO 100 ;shift base Y pos BASE_DATA.Y=BASE_DATA.Y + 10 ;linear move SLIN P2 CONT Vel=0.1 m/s CPDAT6 Tool Base:BASE_DATA ;move gripper 100mm forward after 200mm IF (COUNTER > 20) AND (COUNTER < 30) THEN BASE_DATA.X=BASE_DATA.X + 10 ENDIF ;move gripper 100mm back after 400mm IF (COUNTER > 40) AND (COUNTER < 50) THEN BASE_DATA.X=BASE_DATA.X - 10 ENDIF ENDFOR ;set base back to 0 (copy data from unused base) BASE_DATA=BASE_DATA
Would the ConveyorTech package be a better way to achieve what I'm describing? Or is conveyorTech only necessary when the speed of the conveyor might vary and the robot needs to follow it perfectly (this is not the case for me, the speed is a constant), and is there an other way to acchieve what I want without the ConveyorTech package?
Second question: If I do decide to get the ConveyorTech package, can this package also be used in KukaSim?