KSS 5.2.14
KR210_L150_S200
Customized positioner Using kuka motor
Hello ,
I have ready robot+ positioner , plasma machineI need to cut a lttle rectangle on big pipe with plasma like this:
https://sc04.alicdn.com/kf/H00c693effd…a8eebf7253h.jpg
https://sc04.alicdn.com/kf/HTB1UguUavBj_uVjSZFp7630SXXaF.png
https://sc04.alicdn.com/kf/HTB1GE4OdlKw3KVjSZTEq6AuRpXaj.jpg
In the past i used the next program using kuka robot like a table cut:
INI
PTP HOME Vel= 100 % DEFAULT
PULSE 10 'Relay1' State= TRUE CONT Time= 0.3 sec
WAIT Time= 0.5 sec
PTP P1 Vel= 100 % PDAT1
LIN P14 Vel= 0.5 m/s CPDAT5 Tool[1] Base[0]
CHANGE_BASE ( )
POINTS ( )
PTP P21 Vel= 100 % PDAT10 Tool[1] Base[0]
LIN P22 Vel= 0.5 m/s CPDAT12 Tool[1] Base[0]
CHANGE_BASE ( )
POINTS ( )
PTP P23 Vel= 100 % PDAT11 Tool[1] Base[0]
LIN P24 Vel= 0.5 m/s CPDAT13 Tool[1] Base[0]
CHANGE_BASE ( )
POINTS ( )
PTP HOME Vel= 100 % DEFAULT
END
DEF CHANGE_BASE ( )
;***********************NO_MODIFY*******************
BASE_DATA[12].X=$POS_ACT.X
BASE_DATA[12].Y=$POS_ACT.Y
BASE_DATA[12].Z=$POS_ACT.Z
WAIT Time= 1 sec
;****************************************************
END
DEF POINTS ( )
;*******here touch up on BASE 12 the figure to repeat ******
OUT 10 'Relay1' State= TRUE
WAIT Time= 0.3 sec
LIN P15 CONT Vel= 0.05 m/s CPDAT6 Tool[1] Base[12]
LIN P16 CONT Vel= 0.05 m/s CPDAT7 Tool[1] Base[12]
LIN P17 CONT Vel= 0.05 m/s CPDAT8 Tool[1] Base[12]
LIN P18 CONT Vel= 0.05 m/s CPDAT9 Tool[1] Base[12]
LIN P19 Vel= 0.05 m/s CPDAT10 Tool[1] Base[12]
OUT 10 'Relay1' State= FALSE
LIN P20 Vel= 0.5 m/s CPDAT11 Tool[1] Base[12]
;*******************************************
ENDThe program works very well to do a nesting , only need touchup 1 time on ¨BASE 12 the piece to repeat , and on NULLFRAME the movements to aproach where i want to repat the piece
Using the past example , how can repeat the piece (before touchped just 1 time ) rotating pipe with positioner ,touchup with NULLFRAME the movements to aproach where i want to repat the piece ?
Thanks
