Hi,guys. Now I want Robot(KUKA LBR Med ) TCP(a tool attached to flange) to move along a circle. I just know that Spline() can contain a group of motion as the Manual Guidance shows. But I don't know how to program? Could Anyone help me? Another question is: If I want to make robot run automaticly along path in which I handGuided the robot beforer, How to program? Any tips , I would be thankful.
Posts by refrain wang
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I can't see the whole parameters of your space monitoring.
You have to specify the origin(x,y,z,a,b,c) of your cube, and then length/width/height of it.
Probably you've missed the last three dimensions.
Plus, AMFs are acting as 'and' conditions. reaction occurs when all three AMFs are violated.
and 'none' is always violated.
Meaning, you need to select 'handguiding device active'(AMF2) if you wish to monitor the space(AMF1) only when using handguiding.
Now, it means the space is monitored always except when you handguide.
I have understood your interpretation. When I set 'handguiding device active'(in AMF1), and set workspace monitoring (in AMF2), and the whole parameter is as the attachment, I found that smartPAD show normally, but the roboot can not be handGuided when the enabled switch is pressed , the robot is always standstill.
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Hi Seulki, on the smartPAD , the error is:
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Hi,Seulki, thank you very much for your reply, I have installed it but the result is failed. I have set in safetyConfiguration as attachment1, but the smartPAD had error as attachment2, why is this? I guess that my robot has run out of my cubic, actually robot is inside it, Do you know this? Thank you again.
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Hi,guys. Now I want to make robots run in a cubic in T1 and AUT , How to use set it when the robot is in handGuiding Mode ? I would be grateful if anyone could help.