Turntable goes to the closest value

  • Hi all,

    I would like my external axis joints to get to exact value specified in the motion command, but that's not the case. The position always rotates in the direction where the angle is the closest to reach.

    For example:

    - Current angle of E2 is 200

    I want LIN {E2 0}

    The positioner rotates to 360.

    Is there any setting that can disable such behavior and instead rotate to exactly 0, in the right direction?

    Any help would be much appreciated!

    Positioner: DKP 400 1 40A

    Robot: KRC 60 3 C4

    KSS 8.5.7 HF1

    Edited once, last by kiwasuse ().

  • Yes. Lookup #AS_PROG.


    Right. Thank you.

    I do use #AS_PROG, but AFAIK, #AS_PROG only works with ASYPTP. My goal is to move away from ASYPTP and control E1, E2 only through LIN.

    For example:

    LIN { X 1288.000, Y -500.000, Z 1250.000, A 79.0000, B 90.0000, C 0.0000, E1 43.2303, E2 0.0000, S 'B00010', T 'B001010' } C_DIS

    Am I missing something?

  • AS_prog should also work on relative motion commands.


  • AS_prog should also work on relative motion commands.


    Are you referring to something like?:
    - LIN_REL { E2: 0.0 } #TOOL #AS_PROG

  • Okay, I see. Thank you!

    I did try it, but there is a compilation error.

  • you can add intermediate point... this way path is divided into two (or more) segments. as long as each segment is less than 180deg, you can have the external rotary axis move the way you want.

    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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