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Kuka Robot point assigning

  • BurakAtay
  • October 22, 2024 at 4:21 PM
  • Thread is Resolved
  • BurakAtay
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    • October 22, 2024 at 4:21 PM
    • #1

    Hello,
    I am new at robot programming and I need to program the robot for welding. I have 4 points for 1 welding proccess after that only x will change about 38 mm's and will do the welding for that place again. I have 3x6 for the welding I am using right now but after it finished I will do the same proccesses for 4x15, 4x17, 4x12 even when I am trying to program 3x6 it has a lot of points and I have declared one by one and it is taking too much time. Instead of declaring one by one is there any chance that like change the x axis for the second point and do the same proccesses or is there any other way I can approach it?
    Any suggestions would be greatly appriciated!

  • Go to Best Answer
  • Lemster68 October 22, 2024 at 4:34 PM

    Approved the thread.
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    SkyeFire
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    • October 22, 2024 at 6:57 PM
    • #2
    Quote from BurakAtay

    Instead of declaring one by one is there any chance that like change the x axis for the second point and do the same proccesses

    Which X axis? Tool or Base?

    Base offsets are rather easy. Assuming you set up your optimized Base as Base 1, and taught your weld points in Base 2, you can:

    Code
    FOR nCount = 0 to 4
      BASE_DATA[2] = BASE_DATA[1] ; set Base 2 equal to Base 1
      BASE_DATA[2].X = BASE_DATA[2].X + (nCount * 38.0) ; offset along Base 2 X axis
      ; put weld moves here
    ENDFOR
  • BurakAtay
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    • October 23, 2024 at 7:01 AM
    • #3

    It is for base axis yes my optimized base is Base 2 I will try your suggestion thank you for a quick response.

  • BurakAtay
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    • October 23, 2024 at 9:51 AM
    • #4
    Quote from SkyeFire

    Which X axis? Tool or Base?

    Base offsets are rather easy. Assuming you set up your optimized Base as Base 1, and taught your weld points in Base 2, you can:

    Code
    FOR nCount = 0 to 4
      BASE_$DATA[2] = BASE_DATA[1] ; set Base 2 equal to Base 1
      BASE_DATA[2].X = BASE_DATA[2].X + (nCount * 38.0) ; offset along Base 2 X axis
      ; put weld moves here
    ENDFOR

    Yes that works but not spesifically I wanted I guess I was wrong by telling you the axis because when I use this code tool moves to the direction I want at nCount=0 there are no problem but after that when it goes in to the nCount=1 tool does not go to the exact location I want. When I look to the base coordinates it changes the x axis by 38 mm but the tool goes 38mm at x axis and some different mm with y and z axis. Is there any way that moves only the tool by 38 mm at x axis by the base I declared not by the robots base?

  • hermann
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    • October 23, 2024 at 10:40 AM
    • Best Answer
    • #5
    Code
    decl frame fOffset
    
    fOffset=$nullframe
    FOR nCount = 0 to 4
     foffset.x = (nCount * 38.0)
      BASE_$DATA[2] = BASE_DATA[1] ; set Base 2 equal to Base 1
      BASE_DATA[2]  = BASE_DATA[2] : fOffset ; offset along Base 2 X axis
      ; put weld moves here
    ENDFOR
  • panic mode
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    • October 23, 2024 at 2:24 PM
    • #6

    there is a typo in several posts.... there is no BASE_$DATA[], the $ character should be removed.

    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

  • BurakAtay
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    • October 23, 2024 at 5:29 PM
    • #7
    Quote from hermann
    Code
    decl frame fOffset
    
    fOffset=$nullframe
    FOR nCount = 0 to 4
     foffset.x = (nCount * 38.0)
      BASE_$DATA[2] = BASE_DATA[1] ; set Base 2 equal to Base 1
      BASE_DATA[2]  = BASE_DATA[2] : fOffset ; offset along Base 2 X axis
      ; put weld moves here
    ENDFOR

    Yes thats exactly what I want thank you for your response Mr/Mrs Hermann.

    Quote from panic mode

    there is a typo in several posts.... there is no BASE_$DATA[], the $ character should be removed.

    Yes with the & code gives an error. Problem solved by Mr/Mrs Hermann's answer but thank you for your response too.

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    SkyeFire
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    • October 23, 2024 at 10:32 PM
    • #8
    Quote from panic mode

    there is a typo in several posts.... there is no BASE_$DATA[], the $ character should be removed.

    Dangit. Went back and fixed the original.

    Quote from hermann
    Code
    decl frame fOffset
    
    fOffset=$nullframe
    FOR nCount = 0 to 4
     foffset.x = (nCount * 38.0)
      BASE_$DATA[2] = BASE_DATA[1] ; set Base 2 equal to Base 1
      BASE_DATA[2]  = BASE_DATA[2] : fOffset ; offset along Base 2 X axis
      ; put weld moves here
    ENDFOR

    :guru::party1: Absolutely correct. My original moved Base 2 in World X, not in its own X.

  • BurakAtay October 24, 2024 at 7:19 AM

    Selected a post as the best answer.

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