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

Quote from Fubini

Yes. Lookup #AS_PROG.

Fubini

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?

Quote from Fubini

AS_prog should also work on relative motion commands.

Post

Rotate axis 6

Hello,

I have an aplication with an Agilus KR10 R1100 sixx, I need to rotate axis 6 370º at a constant and controlated speed,
I've tried with LIN_REL {A 370} but i can't move the axis fast, I've changed VEL.ORI1 to 400 º/s and ACC.ORI1 to 100
but the axis don't move fast (in T2 mode of course). Does anybody know the maximun values for VEl.ORI1 and ACC.ORI1
or another mode to do this movement?

ferelectro

March 7, 2016 at 7:24 AM

Fubini

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

Quote from Fubini

Yes. If e.g, e1 is at 270

lin_rel {e1 -270} #AS_PROG

should bring it to zero. The same can be achived by

slin_rel {e1 -270}

Here #as_prog is not needed since this is the default for spline.

Fubini

Display More

Okay, I see. Thank you!

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

Quote from Fubini

Forgot #tool or #base as first parameter after the position.

Hi Fubini, it still doesn't seem to like it.