Thank you Alex for the tip!
Just got it to work using regex
Thank you Alex for the tip!
Just got it to work using regex
Hello everyone,
Does anyone know how to automate writing the command Sync=AutoSync -> 1_2 for multiple motion points at once?
I have two KUKA KR120 in a RoboTeam, KRC4, that have each a program with 1000 points I want them to execute in sync. But I can't find how to automate writing the command sync for all of those points.
Any input would be appreciated!
Thank you Panic Mode and SkyeFire! that's useful to know, was thinking there would be a way to use a loop for it.
I need to do some more testing with the code as it is not printing the logs anymore...
Hi,
I was looking and tried the log2 code. There is something I don't quite get. If you write actual SPTP motion commands in log2_test.src, would you need to write log2(a.a1,a.a2,a.a3,a.a4,a.a5,a.a6,a.a2,a.a3) after each waypoint is reached? Or can you do something similar to the following?
&ACCESS RVP
&REL 2
&PARAM EDITMASK = *
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
DEF log2_test( )
decl e6axis a
decl int i
a=$axis_act
for i = 1 to 5
SPTP P1 PDAT1
i= i+1
SPTP P2 PDAT2
i= i+1
SPTP P3 PDAT3
i= i+1
SPTP P4 PDAT4
i= i+1
log2 (i,a.a1,a.a2,a.a3,a.a4,a.a5,a.a6,a.a2,a.a3)
;wait sec 0
endfor
END
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Hi, thank you very much for your help! Will try those options
Hello,
I am doing some programming on the SmartPad, and have a KRC4 controller. I am trying to ensure that the robot has reached the previous position before sending a signal. I know the program looks a few lines ahead so I am a curious about this. I was wondering if it's possible to do it as the following:
Would I need to declare a position as a variable in order to do this? How would I need to program it?
I am new to programming in KUKA language and I have looked through Programming 1 manual by KUKA but can't find if that is even possible or necessary.
Thanks