Posts by Julian Sander

    I believe the robot is neither HA or ABS. It's a KR 200-3 COMP. I think it might be a TCP issue though I'm not sure. Joint movements work fine but LIN movements get this issue.


    SRC code:

    &ACCESS RVP
    &REL 1
    &PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
    &PARAM EDITMASK = *
    DEF flatcnctest1 ( )

    ;FOLD INI
    BAS (#INITMOV,0 )
    ;ENDFOLD (INI)

    ;FOLD STARTPOS
    $BWDSTART = FALSE
    PDAT_ACT = PDEFAULT
    BAS(#PTP_DAT)
    FDAT_ACT = {TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE}
    BAS(#FRAMES)
    ;ENDFOLD

    ;FOLD SET DEFAULT SPEED
    $VEL.CP=0.2
    BAS(#VEL_PTP,100)
    BAS(#TOOL,0)
    BAS(#BASE,0)
    ;ENDFOLD

    $ADVANCE = 5

    PTP $AXIS_ACT ; skip BCO quickly

    ; Program generated by RoboDK v5.4.1 for KUKA KR 140 comp on 14/07/2022 01:30:06
    ; Using nominal kinematics.
    $APO.CPTP = 1.000
    $APO.CDIS = 1.000
    $ACC.ORI1 = 1000.00000
    $ACC.ORI2 = 1000.00000
    $VEL.ORI1 = 90.00000
    $VEL.ORI2 = 90.00000
    $ACC.CP = 1.00000
    BASE_DATA[2] = {FRAME: X 1240.000,Y 70.000,Z 1075.000,A 0.000,B 0.000,C 0.000}
    TOOL_DATA[1] = {FRAME: X -54.000,Y 0.000,Z 628.500,A 0.000,B -45.000,C 0.000}
    ; Show EndEffectorCombined
    ;FOLD PTP P1 CONT Vel=100 % PDAT1 Tool[1] Base[2];%{PE}%R 5.5.31,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P1, 3:C_PTP, 5:100, 7:PDAT1
    $BWDSTART=FALSE
    PDAT_ACT=PPDAT1
    FDAT_ACT=FP1
    BAS(#PTP_PARAMS,100)
    PTP XP1 C_PTP
    ;ENDFOLD
    ;FOLD LIN P2 CONT Vel=0.500 m/s CPDAT2 Tool[1] Base[2];%{PE}%R 5.5.0,%MKUKATPA20,%CARC_SWI,%VLIN,%P 1:LIN, 2:P2, 3:C_DIS, 5:0, 7:CPDAT2
    $BWDSTART=FALSE
    LDAT_ACT=LCPDAT2
    FDAT_ACT=FP2
    BAS(#CP_PARAMS,0.25)
    LIN XP2 C_DIS
    ;ENDFOLD
    ;FOLD LIN P3 CONT Vel=0.500 m/s CPDAT3 Tool[1] Base[2];%{PE}%R 5.5.0,%MKUKATPA20,%CARC_SWI,%VLIN,%P 1:LIN, 2:P3, 3:C_DIS, 5:0, 7:CPDAT3
    $BWDSTART=FALSE
    LDAT_ACT=LCPDAT3
    FDAT_ACT=FP3
    BAS(#CP_PARAMS,0.25)
    LIN XP3 C_DIS
    ;ENDFOLD

    ....


    DAT code:

    &ACCESS RVP
    &REL 1
    &COMMENT Generated by RoboDK
    &PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
    &PARAM EDITMASK = *
    DEFDAT flatcnctest1

    EXT BAS (BAS_COMMAND :IN,REAL :IN )

    DECL E6AXIS XP1={A1 5.82789,A2 -87.75860,A3 84.49660,A4 -44.05300,A5 83.76450,A6 -100.96500}
    DECL FDAT FP1={TOOL_NO 1,BASE_NO 2,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
    DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 1.000,APO_MODE #CPTP}
    DECL E6POS XP2={X 316.230,Y 316.230,Z 5.080,A 72.000,B 0.000,C -180.000}
    DECL FDAT FP2={TOOL_NO 1,BASE_NO 2,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
    DECL LDAT LCPDAT2={VEL 0.50000,ACC 100.000,APO_DIST 1.000,APO_FAC 50.0000,ORI_TYP #BASE,CIRC_TYP #BASE,JERK_FAC 50.0000}

    ...