OFFSET in KR C4

I have to apply an offset equal to the thickness of a sheet for a destacker, and I'm a bit confused on how the offset affects the data.

I did a bit of research and found that offsets are made like this:

PTP {X 0, Y 0, Z OFFSET, A 0, B 0, C 0}:P1

But I'm not sure if that will change the data of P1 (modify the Z value) or just make the movement with that offset and nothing else.

If that will change the data of P1, I will have to use a copy of P1 and add the offset every time the robot picks a sheet, but I'm not 100% sure on how to do that. My try would be this:

;INI to start from the origen
P1_OFFS = P1

;Every time a sheet is picked
PTP {X 0, Y 0, Z OFFSET, A 0, B 0, C 0}:P1_OFFS

;OFFSET WILL BE LIKE 1.2mm

If the data is not modified, I will just substract 1.2mm to that offset variable and it will go 1.2mm lower each time.

If the data is modified, I will modify the copy that will "restart" when a new stack is placed.

I can't test it, I don't have the robot and I have to send the changes on the code so they can test it, so I want to be as sure as possible in everything that I can.

Thanks for reading.

Quote from Fubini

First of all one of the most often made mistakes. You can not use variables inside the aggregates (everthing between curly brackets). So

Code

PTP {X 0, Y 0, Z OFFSET, A 0, B 0, C 0}:P1

will not work because of the "Z Offset". You need to assign beforehand like this:

Code

E6POS SHIFT
SHIFT.X = 0
SHIFT.Y = 0
SHIFT.Z = OFFSET
SHIFT.A = 0
SHIFT.B = 0
SHIFT.C = 0
PTP SHIFT:P1

This operation will not modify P1 but you have to think in which coordinate system you want to shift. Should the shift be happening in the base system the upper code is correct. If a shift in the tool system is required you need to change the order to

Code

PTP P1:SHIFT

See also the discussions here

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I do this with offsets in Japanese robots.
what is the command in a Kuka to preform this?
Example:
PTP HOME
PTP p1 offset tool Z 300 mm approach position
PTP p1 CONT Vel=100 % PDAT27 Tool[1]: Base[3]:1 target position
PTP p1 offset tool Z 100mm…

tonygast

December 11, 2014 at 4:19 PM

Post

Behind the scene - geometric operator

I was looking for the "geometric operator"in this forum and found a lot of problems unsolved.

Maybe this thread will help to get a better understanding.

So, let us start:

robot-forum.com/attachment/37413/

In this first post just some explanations:

T01: $BASE (given) : {X 800.0, Y 0.0, Z 1200.0, A 0.0, B 90.0, C 0.0} -> how to convert?

T12: Pose relative to $BASE (given): {X 300.0, Y 0.0, Z 400, A 0.0, B -90.0, C0.0} -> how to convert?

T02: Pose relative to K0 (needs to be calculated)

The geometric…

MOM

April 15, 2023 at 1:03 AM

Fubini

Thank you so much, I think that's all I needed and, yes, I want to make an offset using the base system, so PTP SHIFT:P1