Posts by Narma1368
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I only use LINs in my routine. Basically I have more LINs and at the end I call
As I mentioned in my first post, none of the subroutines has any movement in it. They only write values to outputs which are send through EtherCAT to my tool.
Do I even need the
when I only use LINs?
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Thanks for your fast reply!
I though with
I would set the velocity for the robot axes. Is that assumption wrong?
I also assumed the error message "Axis E1 Velocity not programmed" referred to the first external axis…
So I would add
or do I need anything else?
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I know this thread is from last year, but I didn't want to create one with the same issue. I tried using the solution here in combination with the Kuka manual, but couldn't solce the problem.
Code
Display MoreDECL REAL CompressionForce,LaserPower,LaserAngle,TapeFeed $APO.CDIS = 10 $VEL.CP = 0.2 $VEL_EXTAX[1] = 1 $ACC_EXTAX[1] = 50 CompressionForce = 200 LaserPower= 0 LaserAngle = 0 TapeFeed= 120 CompressionForceValue(CompressionForce) SetLaserPowerValue(LaserPower) SetTapeFeedValue(TapeFeed) SetLaserAngleValue(LaserAngle) LIN {x -565.568,y 1501.898, z 496.859, a 85.5, b 0.0, c 0.0, e1 0.0 }
The programms which are called (CompressionForceValue etc.) only communicate with the attached tool by reading/writing in and ouputs, so I doubt the issue comes from there. This Programm is the only place where I actually try to move the robot and the external axis. After getting the error about the axis E1 Velocity not being programmed I found this Forum, checked the Kuka manual added $VEL_EXTAX[1] = 1 and $ACC_EXTAX[1] = 50 but I still get the same issue.
Can anyone tell me what I'm doing wrong?
Thanks in Advance!