Posts by siwei chen

thanks for your feedback,but $pos_act works as expected,could you specify running trace?is it a function in workvisual?

Quote from Fubini

That is normal. Kuka.cnc is compared to other option packages different. Robot is not really handled by KSS in cnc mode. The cnc package installs a third party NC controller inside the realtime robot os. With kuka.cnc you simply switch to the NC and back. Variables are not mapped into KSS which more or less is paused when running cnc mode.

https://www.isg-stuttgart.de/

So maybe kuka.cnc offers a different diagnose method for velocity, but I am not sure about this since I never really used it myself much. Never tried it but running trace for the drives might also work, since both controllers share the drivers for the drives.

Hello fellows,

we've got a new KUKA robot in our plant and it comes with KUKA.CNC,I've managed to install the package and successfully test few motions,it had worked as I expected,but during the motion,I couldn't retrieve the actual real time linear velocity of the TCP by watching the system variable $vel_act, I could watch it during traditional KRL mode.anyone has a thought on this?

Good day everyone,

I'm planning to use KUKA.CNC package to have complex trajectory planning.

my path involves lots of points with different orientations of TCP,so I suppose,we'll have to plan many points with different X,Y,Z, A,B,C values.I used NCviewer to have a look at how the G-code works,below is a demo that I run on NCviewer. to focus on the last line,the TCP was supposed to stay at X49 and turn its orientation at B30,but the plot shows that the TCP moves on X and Z directions to perform this rotation,it's a totally different behavior compared with traditional KRL languages,in traditional KRL lanagues,if we move only with A,B,C,the TCP only changes its orientation,TCP doesn't move on X,Y,Zdirections. I was wondering how KUKA.CNC will act on code like this.

G21 G91 G94
G00 Z20
G00 X0 Y0
G00 Z-19
M03 S14000
G01 Z-1 F250
G01 Y40 F800
G02 X10 Y10 R10
G01 X30
G03 X10 Y-10 R10
G01 Y-8.66
G03 Y-23.22 R19
G01 Y-8.12
G90
G01 X49
G01 B30

hi everyone,I tried with LIN motion with C-VEL instead of C-Dis,problem solved,thanks you all

Quote from BOTja

I have a KR 120 R3100-2 KRC4 that has to pick up some aluminium pieces and I noticed during the trajectory that the robot oscilates.

I executed a trace and saw that the B rotation, the 4th and 6th axis oscilate.

The trajectory where I want no oscilation is just 10mm in the Z axis, and I'm not sure if this is normal, or if there's a problem with the software or hardware.

If you need more information or data let me know and I'll post it.

don't know the answers to your questions bro,but i want to know how you executed the trace and get the graph like this?through workvisual?

Quote from hermann

Try to use old fashioned LIN movements.

thanks,I'll try,why you suggest old fashioned LIN movment instead of SLIN?

Quote from geir_hokarob

Your points are very close together (less than one millimeter). Robot controllers are not like CNC controllers which can handle close points at high speeds. Did you try to space the interpolated points further apart?

yes,I tried,it doesn't make big differences,unless I made the points very far away from each other,but this makes the robot running away too much from the planned trajectory.

Good day everyone,
I'm working on a project which involves generate a path along the surface of any give 3D geometry,I use Matlab to read a from an external stl file to get the surface point and its related normal vector(small triangle mesh and the normal vector),by writing a script processing these datas,I could come up with a series of point containing Cartesian coordinates and the orientation(X,Y,Z,A,B,C), I used SLIN point C_Dis to run these points,supposing that I could get a smooth path,but the robot either says approximation not possible or stutter.
anyone can teach me how to make the motion smooth,I even used spline block,the stutter disappeared but I got extremly slow speed. is there any rules that we could follow in order to generate the data for points so that we could get a smooth motion?? I used Matlab spline function to generate interpolation point hoping to help the transition in a smooth way,but it doesn't seems like to improve.
following is my code:
&ACCESS RVO
&REL 8
&PARAM EDITMASK = *
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM DISKPATH = KRC:\R1\1
DEF shoes( )

GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3

BAS(#INITMOV, 0)
$OUT[4] = False
$OUT[2] = False
$OUT[3] = False
BAS(#VEL_PTP, 1)
BAS(#ACC_PTP, 0.5)
slowspeed=0.01
fastspeed=0.33

midspeed=0.27

$VEL.CP=fastspeed
BAS(#BASE, 1)
BAS(#TOOL, 1)
$VEL_AXIS[1]=10
$VEL_AXIS[2]=10
$VEL_AXIS[3]=10
$VEL_AXIS[4]=10
$VEL_AXIS[5]=10
$VEL_AXIS[6]=10
$ACC_AXIS[1]=10
$ACC_AXIS[2]=10
$ACC_AXIS[3]=10
$ACC_AXIS[4]=10
$ACC_AXIS[5]=10
$ACC_AXIS[6]=10
$APO.CDIS=0.1

;FOLD SPTP P12 Vel=50 % PDAT4 Tool[1]:Tool1 Base[1]:Base1 ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=P12; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT4; Kuka.VelocityPtp=50; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
;ENDFOLD
SPTP XP12 WITH $VEL_AXIS[1] = SVEL_JOINT(50.0), $TOOL = STOOL2(FP12), $BASE = SBASE(FP12.BASE_NO), $IPO_MODE = SIPO_MODE(FP12.IPO_FRAME), $LOAD = SLOAD(FP12.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPDAT4), $APO = SAPO_PTP(PPDAT4), $GEAR_JERK[1] = SGEAR_JERK(PPDAT4), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
;send tape out signal
PULSE($OUT[3], TRUE, 1.0)
WAIT FOR ( $IN[10] )
$OUT[3] = False

;ENDFOLD
$ADVANCE=5

SLIN {X 400.00,Y -125.13,Z 217.66,A -53.62,B 53.74,C 168.74} C_Dis
SLIN {X 400.00,Y -124.51,Z 217.32,A -53.60,B 53.76,C 168.77} C_Dis
SLIN {X 400.00,Y -123.90,Z 216.99,A -53.58,B 53.79,C 168.80} C_Dis
SLIN {X 400.00,Y -123.29,Z 216.65,A -53.55,B 53.81,C 168.83} C_Dis
SLIN {X 400.00,Y -122.68,Z 216.31,A -53.53,B 53.83,C 168.85} C_Dis
SLIN {X 400.00,Y -122.06,Z 215.97,A -53.51,B 53.85,C 168.88} C_Dis
SLIN {X 400.00,Y -121.45,Z 215.63,A -53.48,B 53.88,C 168.91} C_Dis
SLIN {X 400.00,Y -120.84,Z 215.30,A -53.46,B 53.90,C 168.94} C_Dis
SLIN {X 400.00,Y -120.22,Z 214.96,A -53.44,B 53.92,C 168.97} C_Dis
SLIN {X 400.00,Y -119.61,Z 214.62,A -53.42,B 53.94,C 169.00} C_Dis
SLIN {X 400.00,Y -119.00,Z 214.28,A -53.39,B 53.97,C 169.02} C_Dis
SLIN {X 400.00,Y -118.38,Z 213.95,A -53.37,B 53.99,C 169.05} C_Dis
SLIN {X 400.00,Y -117.77,Z 213.61,A -53.35,B 54.01,C 169.08} C_Dis
SLIN {X 400.00,Y -117.16,Z 213.27,A -53.32,B 54.03,C 169.11} C_Dis
SLIN {X 400.00,Y -116.54,Z 212.93,A -53.30,B 54.06,C 169.14} C_Dis
SLIN {X 400.00,Y -115.93,Z 212.59,A -53.28,B 54.08,C 169.17} C_Dis
SLIN {X 400.00,Y -115.32,Z 212.26,A -53.25,B 54.10,C 169.19} C_Dis
SLIN {X 400.00,Y -114.71,Z 211.92,A -53.23,B 54.12,C 169.22} C_Dis
SLIN {X 400.00,Y -114.09,Z 211.58,A -53.21,B 54.15,C 169.25} C_Dis
SLIN {X 400.00,Y -113.48,Z 211.24,A -53.19,B 54.17,C 169.28} C_Dis
SLIN {X 400.00,Y -112.87,Z 210.91,A -53.16,B 54.19,C 169.31} C_Dis
SLIN {X 400.00,Y -112.25,Z 210.57,A -53.14,B 54.21,C 169.34} C_Dis
SLIN {X 400.00,Y -111.64,Z 210.23,A -53.12,B 54.24,C 169.37} C_Dis
SLIN {X 400.00,Y -111.03,Z 209.89,A -53.09,B 54.26,C 169.39} C_Dis
SLIN {X 400.00,Y -110.41,Z 209.55,A -53.07,B 54.28,C 169.42} C_Dis
SLIN {X 400.00,Y -109.80,Z 209.22,A -53.05,B 54.30,C 169.45} C_Dis
SLIN {X 400.00,Y -109.19,Z 208.88,A -53.02,B 54.32,C 169.48} C_Dis
SLIN {X 400.00,Y -108.57,Z 208.54,A -53.00,B 54.35,C 169.51} C_Dis
SLIN {X 400.00,Y -108.34,Z 208.41,A -52.99,B 54.36,C 169.52} C_Dis
SLIN {X 400.00,Y -107.72,Z 208.08,A -52.97,B 54.38,C 169.55} C_Dis
SLIN {X 400.00,Y -107.11,Z 207.75,A -52.94,B 54.40,C 169.58} C_Dis
SLIN {X 400.00,Y -106.49,Z 207.42,A -52.92,B 54.42,C 169.61} C_Dis
SLIN {X 400.00,Y -105.88,Z 207.08,A -52.90,B 54.44,C 169.64} C_Dis
SLIN {X 400.00,Y -105.26,Z 206.75,A -52.87,B 54.47,C 169.67} C_Dis
SLIN {X 400.00,Y -104.64,Z 206.42,A -52.85,B 54.49,C 169.70} C_Dis
SLIN {X 400.00,Y -104.03,Z 206.09,A -52.82,B 54.51,C 169.72} C_Dis
SLIN {X 400.00,Y -103.41,Z 205.75,A -52.80,B 54.53,C 169.75} C_Dis
SLIN {X 400.00,Y -102.80,Z 205.42,A -52.78,B 54.56,C 169.78} C_Dis
SLIN {X 400.00,Y -102.18,Z 205.09,A -52.75,B 54.58,C 169.81} C_Dis
SLIN {X 400.00,Y -101.56,Z 204.76,A -52.73,B 54.60,C 169.84} C_Dis
SLIN {X 400.00,Y -100.95,Z 204.42,A -52.71,B 54.62,C 169.87} C_Dis
SLIN {X 400.00,Y -100.33,Z 204.09,A -52.68,B 54.65,C 169.90} C_Dis
SLIN {X 400.00,Y -99.72,Z 203.76,A -52.66,B 54.67,C 169.93} C_Dis