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Offset Lines

  • madrjo3_RP
  • September 8, 2023 at 6:14 PM
  • Thread is Unresolved
  • madrjo3_RP
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    • September 8, 2023 at 6:14 PM
    • #1

    hi Team

    KUKA

    KRC4

    KSS8.6.6

    kr2700

    Help... I have a program with 50 points and I need to make an Offset at 40 movements in z- (10 mm) , Fanuc has a function called Tool offset and it allows you to do it in the number of lines that you choose, is there something similar in Kuka? or how could I do it? :neutral_face:


    Regards

    Saludos / Best Regards

    Madrijo3

  • Fubini
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    • September 8, 2023 at 6:19 PM
    • #2

    Expert programs or inline forms?

    In both cases you can in principle use the colon operator : aka geometric operator. How exactly and where to apply it to depends on the above question.


    Post

    RE: OFFSET in KR C4

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

    (Code, 1 line)

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

    (Code, 8 lines)

    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…
    Fubini
    June 16, 2023 at 12:32 PM

    Fubini

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    SkyeFire
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    • September 8, 2023 at 7:15 PM
    • #3
    Quote from madrjo3_RP

    I need to make an Offset at 40 movements in z- (10 mm)

    Tool Z or Base Z? Once, as a permanent edit, or is this something you need to do dynamically as part of the program execution?

    Tool Z: Point = Point : {X 0,Y 0,Z -10,A 0,B 0,C 0}

    Base Z: Point = {X 0,Y 0,Z -10,A 0,B 0,C 0} : Point

    Fubini's link dives into the details.

  • madrjo3_RP
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    • September 29, 2023 at 6:17 PM
    • #4

    i mean this is just a example

    ;********************************

    ;Project: VW_9102NP

    ;Robot: RSP030RB02

    ;Fixture: RSP030TL01

    ;Process: Spot Welding SP

    ;Program: SW_RSP030TL01

    ;********************************


    PTP HOME Vel=100 % DEFAULT ;%{PE}

    PTP P100 Vel=100 % DEFAULT ;%{PE}

    PTP P110 Vel=100 % DEFAULT ;%{PE}

    PTP P130 Vel=100 % DEFAULT ;%{PE}

    PTP P130 Vel=100 % DEFAULT ;%{PE}

    LIN P140 Vel=100 % DEFAULT ;%{PE}

    LIN P150 Vel=100 % DEFAULT ;%{PE}

    LIN P160 Vel=100 % DEFAULT ;%{PE}

    PTP P130 Vel=100 % DEFAULT ;%{PE}

    PTP P130 Vel=100 % DEFAULT ;%{PE}

    PTP P110 Vel=100 % DEFAULT ;%{PE}

    PTP P100 Vel=100 % DEFAULT ;%{PE}

    PTP HOME Vel=100 % DEFAULT ;%{PE}

    ______________________________________

    what about if lite to apply an offset in Tool Z- just for the points 140,150,160,


    some like a

    PTP HOME Vel=100 % DEFAULT ;%{PE}

    PTP P100 Vel=100 % DEFAULT ;%{PE}

    PTP P110 Vel=100 % DEFAULT ;%{PE}

    PTP P130 Vel=100 % DEFAULT ;%{PE}

    PTP P130 Vel=100 % DEFAULT ;%{PE}

    "Ztool offset -5" apply just for this 3 points

    LIN P140 Vel=100 % DEFAULT ;%{PE}

    LIN P150 Vel=100 % DEFAULT ;%{PE}

    LIN P160 Vel=100 % DEFAULT ;%{PE}

    from of this points must to be Normal , without modifications

    PTP P130 Vel=100 % DEFAULT ;%{PE}

    PTP P130 Vel=100 % DEFAULT ;%{PE}

    PTP P110 Vel=100 % DEFAULT ;%{PE}

    PTP P100 Vel=100 % DEFAULT ;%{PE}


    PTP HOME Vel=100 % DEFAULT ;%{PE}


    thanks in advance

    Saludos / Best Regards

    Madrijo3

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    panic mode
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    • September 29, 2023 at 6:41 PM
    • #5

    it looks like you are using inline forms but that is not real code

    for ILF based programs you can simply offset base

    you may move some or all points using either transform options on the smartPad or with OrangeEdit.

    check programming manual for system intergrator.

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

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