Hello,
I am running a Kuka Robot for welding aluminum pieces from a long time ago. I use several programs but all is the same.... move a robot, start the welding, move, stop welding, move to the next piece, start the welding and so on.... All works good.
Now i have create same fixtures for attached more pieces and more welding's in one run job!! I have edited the program for more parts.
- The problem is that in the new positions the robot stop for waiting the welding and don´t continue.... either i don´t see any error too. Somehow is like the robot don´t have permission or working area to fire the welding in that zone. But i don´t no here to search for solve this...
Below i "quote" and paste same part of the code... and this is the same for all the pieces, but when the robot stop in the new area/piece, always stop in this line: WAIT FOR ( IN 68 'permiso soldar' )
I think i need same ideas to solve this...
QuoteDisplay More;Request Welding ON
;FOLD SYN OUT 67 'start soldadura' State=TRUE at END Delay=50 ms;%{PE}%R 8.3.44,%MKUKATPBASIS,%COUT,%VSYNOUT,%P 2:67, 3:start soldadura, 5:TRUE, 7:1, 9:10, 12:50
TRIGGER WHEN DISTANCE=1 DELAY=50 DO $OUT[67]=TRUE
;ENDFOLD
;Welding Init Point
;FOLD SLIN P31 Vel=0.08 m/s CPDAT14 Tool[1]:tool1(163mm) Base[2]:Horizontal_C2_D2;%{PE}%R 8.3.44,%MKUKATPBASIS,%CSPLINE,%VSLIN_SB,%P 1:SLIN_SB, 2:P31, 3:, 5:0.08, 7:CPDAT14
SLIN XP31 WITH $VEL=SVEL_CP( 0.08, , LCPDAT14), $TOOL=STOOL2( FP31), $BASE= EK(K_ROOT( FP31.BASE_NO), K_TYPE( FP31.BASE_NO), K_OFFS( FP31.BASE_NO)),$IPO_MODE=SIPO_MODE( FP31.IPO_FRAME), $LOAD=SLOAD( FP31.TOOL_NO), $ACC=SACC_CP( LCPDAT14), $ORI_TYPE=SORI_TYP( LCPDAT14), $JERK=SJERK( LCPDAT14)
;ENDFOLD
;Confirmation Welding ON
;FOLD WAIT FOR ( IN 68 'permiso soldar' ) CONT;%{PE}%R 8.3.44,%MKUKATPBASIS,%CEXT_WAIT_FOR,%VEXT_WAIT_FOR,%P 2:, 4:, 5:$IN, 6:68, 7:permiso soldar, 9:CONTINUE
CONTINUE
WAIT FOR ( $IN[68] )
;ENDFOLD
;FOLD OUT 67 'start soldadura' State=FALSE CONT;%{PE}%R 8.3.44,%MKUKATPBASIS,%COUT,%VOUTX,%P 2:67, 3:start soldadura, 5:FALSE, 6:CONTINUE
CONTINUE
$OUT[67]=FALSE
;ENDFOLD