Hello robot experts,
I'm trying to learn about programming KUKA robots. I don't have access to a real robot, but I do have some examples of robot code, manuals and limited access to simulation software.
Can you please help me understand what is happening in these lines (these are console outputs of Robsim simulation software):
$IN_HOME=0
33: $ACT_BASE = 0, $ACT_TOOL = 1
33: $BASE = { X 0.000, Y 0.000, Z 0.000, A 0.0, B 0.0, C 0.0 }
33: $TOOL = { X 710.610, Y -483.210, Z 445.080, A -60.0, B 0.0, C 0.0 }
33: PTP XjtHome_1 { A1 -20.0, A2 -100.0, A3 110.0, A4 -10.0, A5 55.0, A6 -120.0, E1 -1400.000, E2 0.000, E3 0.000, E4 0.000, E5 0.000, E6 0.000 }
33: $ACT_BASE = 1, $ACT_TOOL = 1
33: $BASE = { X 5378.090, Y 2580.270, Z -1902.000, A 180.0, B 0.0, C 0.0 }
33: $TOOL = { X 710.610, Y -483.210, Z 445.080, A -60.0, B 0.0, C 0.0 }
33: PTP XP005 C_DIS { X 4221.210, Y -139.860, Z 3991.020, A -4.1, B 1.0, C 168.0, S 'H02', T 'H2b', E1 -1400.000, E2 0.000, E3 0.000, E4 0.000, E5 0.000, E6 0.000 }
What I see is that there are two home positions: HOME and HOME_1.
TOOL1 is calibrated and has its position and orientation values.
BASE 0 is in nullframe (all coordinates are 0).
What does this line mean:
PTP XjtHome_1 { A1 -20.0, A2 -100.0, A3 110.0, A4 -10.0, A5 55.0, A6 -120.0, E1 -1400.000, E2 0.000, E3 0.000, E4 0.000, E5 0.000, E6 0.000 }
It seems like it is a PTP command, but values of axis are given. Since robot has 6 degrees of freedom, I can understand why there are 1...6, but what A and E means? I guess A is for axis.
What does it mean when there is a BASE switch in the code like in the example above?
Thank you.