Posts by Andrew149

thanks

panic mode thats a good representation of velocity of rotational and swivel.

but how does the velocity works? any idea.

i have given

$VEL.ORI1=200
$VEL.ORI2=200
$ACC.ORI1=100
$ACC.ORI2=100

$VEL.ORI1 can go up to 400 max. what kind of velocity is it?. is it TCP velocity maintained during rotational and swivel1?

help

i might read it first

can someone please explain is the spine option nt available in krc2 v5.2?

fubini hope below is the spline block

SPLINE
SPL XP1
SPL XP2
SPL XP3
....
ENDSPLINE

in basic training they not given any training regarding splines. i attended basic training.

i am a robot OLP person and i have to give OLP generated to Robot programmer who is a kuka expert.

i have to generate correct Syntax OLP because there is some syntax error in my input.

thank you
bala

fubini what you mean by below line
Only $APO.CVEL is always meaningless in spline?

is it velocity not maintained? as meaning less

Hi.. i have reduced total no og points now iam getting higher speed

Hi Fubini,

i have read the documents and understand how spline works.

now i write a code from robot master software as

SLIN {X -88.5393,Y 99.1345,Z -30.0781,A -2.6482,B -17.6097,C -163.0256}

but it throws some error in real robot, but what is the error the robot is not showing in teach pendant.

any help?

panic i changed the $APO variable still its having speed issue.

can you please tell me how spline works. does spline will have constant velocity which we are setting?

fubini C_VEL dsent affect the speed

i think only spline option i should try

thanks fubini, i really appreciate your help on this.

i am a robot simulator and new to kuka robot.

i like to understand that my program will look like below line when we generate OLP from Robot master software, which is

LIN {X -64.2835,Y 205.7571,Z -41.6742,A 2.4476,B 3.1076,C -103.5577} C_DIS

you mean to say change C_DIS to C_VEL so my new line of code will look like

LIN {X -64.2835,Y 205.7571,Z -41.6742,A 2.4476,B 3.1076,C -103.5577} C_VEL

and also define C_VEL variable?

is it right ?

Fubini you mean to say change from LIN to Spline so that this limitation wont happen?

thanks fubini.. i will read and check

hi all,

i am doing program for thermal spray coating.

when robot master generated programs its having 10000s points in it.

i am trying to change the speed of robot by setting the velocity as

$VEL.CP=3

but this dosent affect the actual speed of robot.

please remember the programs generated has 10000s of point.

i have attached a sample program.

i dont understand why the robot speed is very slow?

help

I set the $Base. But the angle is not reflecting in program. XYZ shift is happening properly. Not the angle

The angle is not changing

Dear All,

I am trying to change the base frame angle in program, but the angle is not changing.
Here is my code.

BASE_FRAME[11].A=BASE_FRAME[11].A+10

The above code is not changing the angle. But below code of shifting the XYZ is working.

BASE_FRAME[11].X=BASE_FRAME[11].X+300

The above code for shifting XYZ is working
But A, B, C is not working.

Help

Thanks
Bala

Thank you very much.

Thanks nikhil. Where to define C_DIS variable or where to check.

Hi kuka Roboter,

I am currently doing kuka olp in Robot master software for thermal spray application.
The total no of points will be 10000 plus.

I would like to understand by default how to give approximate positioning .

My program will have 10000 line of ptp and linear paths.

While running the program the robot should not stop and go in each points. Instead the program should of smooth flow of complex curves.
I need to declare a common variable for smooth path flow so that robot will not accurately stop at each points.

Any help would be highly appreciated.

Thank you
Bala