Hello,
I should test the ratio of rotating table using a TCP and reference on my custom E1 rotary turntable. I’ve done the 4-point EXT root calibration, I have an X marked on the flange and TCP ref tool in the spindle. I just need to run a small program to test if if TCP and E1 sync when rotated.
Loaded this test program below but Kuka found errors. My programming knowledge clearly sub par. I just wonder if anyone could provide alterations or an alternative. Test program.
Many thanks
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KR125
KCR2ED05
KSS 5.5.12
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DEF rt_test()
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
BAS (#INITMOV , 0)
BAS (#VEL_PTP, 20)
BAS (#ACC_PTP, 20)
PTP $AXIS_ACT
FOR I[1]=1 TO 12 STEP 1
PTP_REL {E1 180.00}
HALT
ENDFOR
FOR I[1]=1 TO 12 STEP 1
PTP_REL {E1 -180.00}
HALT
ENDFOR
END