Posts by Narma1368

In base

So I will keep

3$APO.CDIS = 10          
4$VEL.CP = 0.2            
5$VEL_EXTAX[1] = 1        
6$ACC_EXTAX[1] = 50  

But then all axes should have both velocity and acceleration or am I wrong?

I only use LINs in my routine. Basically I have more LINs and at the end I call

LaserOff()
LaserLineLaserOff()
CutTape()
CompressionForceOff()

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

$VEL_EXTAX[1] = 1
$ACC_EXTAX[1] = 50

when I only use LINs?

Thanks for your fast reply!

I though with

$VEL.CP = 0.2

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

FOR I = 1 TO 6
    $VEL_AXIS[I] = 10
    $ACC_AXIS[I] = 100
ENDFOR

or do I need anything else?

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.

DECL 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!