Hello guys,
What is this error?
switching action for this type of movement not allowed kss 01365
Hello guys,
What is this error?
switching action for this type of movement not allowed kss 01365
KRC is a piece of hardware. messages are generated by software. so you may be more productive to mention KSS version rather than KRC type or robot type.
also screenshot would be better since your translation of the message text missed few marks but at least you did include message number so one can dig deeper.
Message tells that your choice of parameters for TRIGGER command is incompatible with motion. This can be boiled down to trying to use option PATH with non-CP motion. PTP type motions do not have TCP path computed so trigger does not know where the switching point would actually need to be.
using LIN or CIRC, for example, precisely defines not just start and end of the motion but every point along the way is on predictable geometric figure. not so for PTP. as the name suggest, PTP motion is point-to-point. in other words only the start point and end point of the motion are actually known points where position and orientation of tool is known. anything in between is "random" and unconstrained by used motion instruction.
so change the sync option to START or END and live with limitations of those options OR ... change motion from PTP to LIN or SLIN.
thanks for your answer,
But how Change the sync option to START or END? I don't undertstand, because I can't change motion PTP to LIN in program.
Why not posting your actual code and we see what you are doing? SYNC is a quite old concept that is mainly replaced by TRIGGERS by now. You should teach TRIGGERS instead. FOR TRIGGERS there is the ONSTART option to switch from start to end.
Fubini
INI;%{PE}
;FOLD BASISTECH INI
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
BAS (#INITMOV,0 )
;ENDFOLD (BASISTECH INI)
;FOLD USER INI
;Make your modifications here
;ENDFOLD (USER INI)
;ENDFOLD (INI)
;FOLD SPTP home CONT Vel=80 % PDAT7 ColDetect[1] ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=home; Kuka.BlendingEnabled=True; Kuka.MoveDataPtpName=PDAT7; Kuka.VelocityPtp=80; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=1; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
;ENDFOLD
SPTP Xhome WITH $VEL_AXIS[1] = SVEL_JOINT(80.0), $TOOL = STOOL2(Fhome), $BASE = SBASE(Fhome.BASE_NO), $IPO_MODE = SIPO_MODE(Fhome.IPO_FRAME), $LOAD = SLOAD(Fhome.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPDAT7), $APO = SAPO_PTP(PPDAT7), $GEAR_JERK[1] = SGEAR_JERK(PPDAT7), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(1) C_Spl
;ENDFOLD
TRIGGER WHEN PATH = 0.0 ONSTART DELAY= 0 DO SET_MEM(Mem_PosHome) PRIO=-1
END
Trigger when distance=0...
But there is no following move instruction, so the trigger never will be executed.
Triggers always have to stand before a motion instructions because they are added to a specifif motion. PATH = 0 is fine if its a SPTP. Its not working if PTP is used. In this case it needs to be a distance = 0 or distance = 1 trigger.
Fubini