Hello everyone. I'm a newbie in Kuka robot. I don't know the below code for what. Anyone can help me. Thanks all.
BAS(#VEL_CP, 2)
BAS(#VEL_PTP, 100)
PTP A1
Hello everyone. I'm a newbie in Kuka robot. I don't know the below code for what. Anyone can help me. Thanks all.
BAS(#VEL_CP, 2)
BAS(#VEL_PTP, 100)
PTP A1
BAS is a system library installed on all KUKA robots. It is associated with Inline Form programming, and templates, when programming from the pendant. BAS source code is openly viewable on the KRC.
PTP A1 executes a "Point To Point" motion (basically, the easiest arc) to the position variable named A1.
all about BAS() is contained in BAS.SRC
first parameter tells what to apply, second tells what value to use.
as mentioned you can read BAS.SRC as it is in plain KRL program
BAS(#TOOL,0) ; sets $TOOL to robot flange (no tool)
BAS(#TOOL,4) ; sets $TOOL to configured tool 4. makes tool number 4 active (1-16)
BAS(#BASE,0) ; sets $BASE to $WORLD
BAS(#BASE,29) ; sets $BASE to base 29 (1-32)
BAS(#VEL_PTP,100) ; sets velocity to 100% for PTP motions (PTP motion does not define path, only start and end point are known)
BAS(#VEL_CP, 0.5) ; sets CP motion velocity to 0.5m/s (CP means "continuous path" motion instruction. that is any instruction using path, basically anything that is not PTP, includes LIN and CIRC motions)
BAS(#ACC_PTP,100) ; sets PTP acceleration to 100%
BAS(#ACC_CP,100) ; sets CP acceleration to 100%
etc.
for more example and inner working just read BAS.SRC
I understood. Thanks all.