KR C2 Stacker Offset

Kevin Wollmann · November 15, 2022 at 3:54 AM

Hi All.

I'm working on a Stacking robot that the customer wants to add a height offset of 10mm for everytime the robot drops a part. I haven't spent a lot of time with a kuka, but I hope i can get this to work. will the following work?

(Pos1) top of the stack

(Pos2) bottom of the stack

(Pos3) offset temp

(INT A) layers count

(INT B) offset measurement.

(INT C) temp

PLC is doing the batch counting $IN(3308)

robot acknowledge that the signal was received. $OUT(3342)

Code

if $IN(3308) == true then     //devicenet input

    PULSE($OUT[3342] , 1)    // pulseoutput signal to show plc robot reset the stacking

    POS3 = POS2                    // restore the temp position to the set point

    A = 0                                  // restore int to 0

else

    A = A + 1                           // add layer

    C = A * B                           //multiply layer height

    LIN Pos3(a1 0, a2 0, a3 C, a4 0, a5 0, a6 0)   //new position

endif



PTP Pos1  //go back to top and cycle....

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hermann · November 15, 2022 at 6:49 AM

Can't follow your logic, but at least

Code

LIN Pos3(a1 0, a2 0, a3 C, a4 0, a5 0, a6 0)

Won't work.

Wrong Syntax. Think you forgot a ':', but that's not enough.

You want to give offsets in cartesian coordinates (not axis values) so you have to use x, y, Z, a, b, c instead of a1, a2...

You can't use variable like C in the offset frame direct, you need to declare a frame and then set the components separate like:

Code

Decl frame offset
Offset=$nullframe
Offset.z = C
Lin offset:offset

Changed the order around ':', as in palletizing programs normally offsets are relative to base.

**panic mode** · November 15, 2022 at 3:46 PM

that is correct except for typo in line 4,

to offset base should be

Code

LIN offset:Pos3

to offset tool should be

Code

LIN Pos3:offset

Kevin Wollmann · November 18, 2022 at 1:30 AM

Hi, what is wrong with the following code.

This is in my DAT file

Code

DECL FRAME Ofset
DECL INT A
DECL INT A1
DECL INT B
DECL INT C

This is in my SRC File. I get the error on the Ofset line.

Code

PTP P8 Vel=30 % PDAT4 Tool[1] Base[0]
LIN P9 Vel=0.2 m/s CPDAT5 Tool[1] Base [0]

A = A + 1
A1 = 120 - A
B = 10
C = A1 * B

Ofset = $nullframe
Ofset.z = -C
LIN P9:Ofset

PTP P10 Vel=30 % PDAT6 Tool[1] Base[0]
PTP P11 Vel=0.2 m/s CPDAT7 Tool[1] Base [0]

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**panic mode** · November 18, 2022 at 4:36 AM

You may want to be more specific...

Which line of code exactly and what kind of message?

Fubini · November 18, 2022 at 8:18 AM

Could be it needs to be XP9 in line 11 since its defined inside an Inline form.

Fubini

hermann · November 18, 2022 at 8:31 AM

Code

-C

should be

Code

-1.0*C

DannyDJ · November 18, 2022 at 9:01 AM

Usually value of inline points in .dat is stored with X prefix. So if you want to use values from inline form point P9, one should write XP9 in program.

LIN XP9:ofset

KR C2 Stacker Offset

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