hi there,
thanks for responding.
first of all, you are right. in kuka sim i just can select younger robots at all. thats the reason, why i wrote, that i had to adapt that code to make it run on kr c2 ed 05 ( as i mentioned e. g. "DECL" or "STEP" in for loops, and so on)
so again, i simulated a whatever robot in modern kuka sim and transfer the code to kr c2. this is not a too big deal, because my code just use for loops and is short. everyone can get this running on kr c2.
second, yah about the external youtube link. while i was posting and visit my thread again, i also thought "probably this will not be a good tactic in a forum". on the other hand i wanted to share this youtube video, so we all "talking the same language". for future: how am i supposed to quote such external links ?
third, Hes
overspeed issues close to singularities can many times be solved by setting $CP_VEL_TYPE to #VAR_ALL if you are not smack in the middle of the singularity and can tolerate that CP motions may be slowed down where axis velocities are exceeded.
do you know, how to implement this line in kr c2 exactly? i guess it's the same like "$ORI_TYPE = #CONST". the kr c2 / kr c3 manual is providing this statement, but when i write it in my code, i get an error (2326 - expected name).
so how and where exactly would i write "$CP_VEL_TYPE = #VAR_ALL" in my code and do i have to use another files like config.dat or anything like that ?