Posts by Lucasss

  • Mapping I/O KRC4 | Get Current Cartesian Position

    Hi Razzzhead, it seems to be a very good idea,


    I checked how to map $ANOUT on workvisual but it is fully greyed and I cant connect them,



    Thanks !

  • Mapping I/O KRC4 | Get Current Cartesian Position

    I see, i will try it tomorrow,


    I'm looking for the spec of ON_ERROR_PROCEED, I remember found it in a doc but cant get my hand on it ..


    EDIT :

    Quote

    Additional information about ON_ERROR_PROCEED is provided in the KU-KA System Software (KSS) service and programming manuals - KSS 8.4



    Thanks

  • Mapping I/O KRC4 | Get Current Cartesian Position

    Hi everyone, i'm coming with some results,


    To resume the thread, I'm searching to get the current cartesian position of the robot during a program to print it into a HMI.


    For this I used $POS_ACT_MES for each axes $POS_ACT_MES.X, $POS_ACT_MES.Y,$POS_ACT_MES.Z)


    And, in the loop of the SPS.SUB :

    And in the VAR_CONST

    Code
    ;************************************************
GLOBAL SIGNAL POSXact $OUT[2160] to $OUT[2191]
GLOBAL SIGNAL POSYact $OUT[2192] to $OUT[2223]
GLOBAL SIGNAL POSZact $OUT[2224] to $OUT[2255]
;************************************************

    I installed my WorkVisual Project without problem. I start the robot. It was already at home position, no base and tool are declared, so $POS_ACT_MES shouldn't be valid. I take the smartpad,


    display -> variables -> unit -> POSXact


    then POSXact is equal to -9999 as mentioned in the sps in the case of error ($pos_act_mes not valid).


    So, I lunch the program of the robot, then the robot act as usual but POSXact doesn't make a move (stay at -9999).


    My program contain around 15 different points and it last for more than 7 seconds so I literally have the time to see the movements of POSXact ,


    I looked for any error in Smartpad but nothing happen,


    If you have any idea don't hesitate,


    Thanks a lot, :smiling_face:

    Lucas

  • Mapping I/O KRC4 | Get Current Cartesian Position

    Quote from panic mode

    when signal is 32-bit (no more and no less) then it is a signed INT (SINT) and the most significant bit is a sign.


    if the signal is less than 32-bit wide, it is always unsigned (sign bit is chopped off).

    so in case one wants less than 32-bit signed value (SINT16 for example), programmer would need to ensure that value is interpreted correctly which is easy to do.

    Thanks for the help, I will check this :smiling_face:


    Quote from hermann

    The format for the 32 bit is well known as two's complement. You can search for it, and will find many examples.


    Well, wasn't sur about it, thanks ! :smiling_face:


    I see, I will send a mail to KUKA about this, thanks a lot !

  • Mapping I/O KRC4 | Get Current Cartesian Position

    Ok nice,



    I was searching about SIGNAL manual, I found that SIGNAL was declared as INT and can be max assign as 32 bits. But i didnt found how these bits take care about the negative numbers. Some of my coordinate looks like -1450.


    Do you have some informations about this ?

    Is there a bit of sign ?



    Thanks,

  • Mapping I/O KRC4 | Get Current Cartesian Position

    Quote from panic mode

    multiplying with 1 does nothing except make more work for CPU.

    I try without but this line appear :


    Some values cannot be initialized correctly when a value of type 'REAL' is used for a parameter of type 'INT'.


    So i guess that $POS_ACT_MES.X is REAL and the signal a INT as you said, should I do any operations to make it INT? or make my Output REAL (that's why i multiplied by 1)


    Thanks panic mode

  • Mapping I/O KRC4 | Get Current Cartesian Position

    Quote from panic mode

    multiplying with 1 does nothing except make more work for CPU.

    that will work but it will give you position value rounded to a millimeter because SIGNAL is an INT type, not a REAL. to send REAL value to PLC, you need to transfer bit-by-bit value from REAL to INT before assigning it to POSXAct for example.


    another workaround to preserve at least some of decimal places is to multiply REAL value by some factor (such as 1000.0). then receiving side should of course divide received value by same factor.

    This is fine for my test, i just wanted to use value rounded to millimeter,

    Thanks for the information, I will think about it :smiling_face:

  • Mapping I/O KRC4 | Get Current Cartesian Position

    Update : General conversion between different coordinate system types (KUKA, Fanuc, ABB, etc) - Page 2 - Robot Geometry, Linear Algebra, Forward and Inverse Kinematics - Robotforum - Support and discussion community for industrial robots and cobots (robot-forum.com)


    I find this post questioning about position with axis and the conversion from matrix to coordinates.

    Do you think it's possible to get the $AXIS_POS_MES in "real time" (around 10ms) thanks to I/O and then convert it through the HMI using maths ? (even if the coordinate are according to the world base)


    Thx in advance, :winking_face:

  • Mapping I/O KRC4 | Get Current Cartesian Position

    Quote from panic mode

    depends on your definition of real time. submit is slow and low priority task.

    you can use RSI or FSD instead of IOs and submit. then you get position data down to 1ms.

    Thanks @PanicMode but i'm was searching for a free way to do it, just for some program tests not for the overall operation.

    But it's likely what i'm trying to do, i will consider the fact that it's not really possible for free,


    Quote from SkyeFire

    Using ON_ERR_PROCEED only applies to the next line of KRL code -- so ON_ERR_PROCEED on Line 1 only applies to Line 2. By line 3, the ON_ERR_PROCEED "trap" has "expired". So the odds of any other error being "caught" is extremely low. Any error that occurs on a line that is not immediately preceded by ON_ERR_PROCEED will be be caught by the system error handler and halt the program. Also, ON_ERR_PROCEED will not affect errors like collisions, E-Stops, communications failures, etc.


    It does not create a safety issue, b/c none of this code is safety-qualified, and as such should never be used for safety-critical interlocks.

    Thanks SkyeFire,

    I didnt catch the fact that only the error of the current line is aim,

    I guess that the code i post will make me more error than data i can use,


    Quote from MOM

    One option (especially for press lines) could be a soft plc (from kuka) having direct access to actual robot position in real time

    Thanks Mom, did you have something in mind about a soft plc ? Something like mxAutomation from KUKA ?

  • Mapping I/O KRC4 | Get Current Cartesian Position

    Hello MOM,


    I see,

    then do you think these two error code are enough for my case ? :thinking_face:

    I'm searching in the KSS Manual in case of similar error,


    Thks


    NB : I forgot to tell you that this robot is part of a cell with a press and security elements, that's why I would like to avoid passing any erroneous code

  • Mapping I/O KRC4 | Get Current Cartesian Position

    Thanks SkyeFire your time,


    As i understand, my sps must be like this,

    But there is something disrupting me,

    Code
    IF $ERR.NUMBER>0 THEN

    If the ERR is >0 then, the error can be everything, this can be a problem ?

    I've checked the KSS System Message Manual and found such number error like


    - 1418 : <X,Y,Z,A,B,C> Base not defined

    - 1419 : <X,Y,Z,A,B,C> Tool not defined

    - 1422 : Reading < Variable $> Incorrect value


    So my question is the following one :

    Should I identify the error codes that relate to my case? Or it does not pose a real problem of safety?

    I'm afraid to bypass another error by leaving >0


    Thanks in advance

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