Posts by Tascanis

Just fyi, this worked perfectly

Quote from panic mode

if you shared link

How to activate and use mechanical weaving?

Sorry, here it is

Quote from panic mode

Code

DECL FRAME ZigZag, LiftUp


ZigZag={X 0, Y 0, Z 0, A 0, B 0, C 0}
LiftUp = {X 0, Y 0, Z 0, A 0, B 0, C 0}
B = 50
FOR A=1 TO 5 STEP 1
    B=-B
    ZigZag.X = B ; change X element only
    LIN_REL ZigZag
    LIN_REL LiftUp
    WAIT SEC 10
ENDFOR

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Wow perfect, thank you for helping me! I'll test it as soon as possible, because I don't have access to the robot now. If anything goes wrong I'll come back to you, but this looks like it will work!

By the way, since you seem very knowledgeable and I see you here helping people often, do you think you could have a look at my other thread?

I'm fairly new to KUKA programming, so I apologize in advance if my doubts are simple or do not make sense.

Is there some way to use variables within motion commands? I want to make a program that moves in a linear path, stops, goes up and comes back above the same line. What I wrote was:

B=50
FOR A=1 TO 5 STEP 1

B=-B
LIN_REL {X B}
LIN_REL {Z 2}
WAIT SEC 10

ENDFOR


But the program says it expects a constant in the LIN_REL command. Is there any way to make this work? Or another way to make this motion in a simple way? without having to repeat lines over and over?

I'm fairly new to KUKA programming, so I apologize in advance if my doubts are simple or do not make sense.

I've been using the robot for welding using simple "LIN" motions, my robot does not communicate effectively with the welder, so I only have an input that basically turns on the welder.

However, I would now like to introduce mechanical weaving into my bead. The only way I found of activating mechanical weaving was through the "arc_off" technology in ArchTechDigital.
I was under the assumption that the weav_def_d2 file would fully define my weave pattern, but the images I've attached show that I need to introduce further inputs in the program, specifically the arc_off command. I intend to make a triangular weave with 2mm of amplitude and 2mm length (in the y axis) through a 50mm straight bead (in the x axis). The default inputs had the weave angle at 0 which would make the weave in the z axis, making the robot move up and down, by putting 90º there it now makes the weave in the y axis.

After all this everything should work correctly. However after copy pasting these lines of codes further down the program and checking if all the inputs are correct, the robot simply moves in a straight line without weaving.

So my question is, why is this happening, and is there a way to implement mechanical weaving without using the arc_off system? Some way of activating mechanical weaving and then every move will use it?

The code is attached