Posts by Loipe

this is all out of memory.

PoseToCopy:=[RtToCopy.trans,RtToCopy.rot];

PoseInNewWobj:=PoseMult(PoseInv(PoseMult(NewWobj.Oframe,OldWobj.Uframe)),PoseMult(PoseMult(OldWobj.Oframe,OldWobj.Uframe),PosetoCopy);

RtInNewWobj:=RtToCopy; !to copy all the extra information
RtInNewWobj.trans:=PoseInNewWobj.trans; !to copy the translatoric part
RtInNewWobj.rot:=PoseInNewWobj.rot; !to copy the rotatoric part

or step by step

PoseToCopy:=[RtToCopy.trans,RtToCopy.rot]
FullOldWobj:=PoseMult(PoseMult(OldWobj.Oframe,OldWobj.Uframe); !to get the whole OldWobj

PoseInWorld:=PoseMult(FullOldWobj,PosetoCopy); !to get RtInWorld

NewWobj:=PoseInv(PoseMult(NewWobj.Oframe,OldWobj.Uframe)); to get Inverted whole NewWobj

PoseInNewWobj:=PoseMult(InvNewWobj,RtInWorld); to get the rob target in relation to new Wobj 

RtInNewWobj:=RtToCopy; !to copy all the extra information
RtInNewWobj.trans:=PoseInNewWobj.trans; !to copy the translatoric part
RtInNewWobj.rot:=PoseInNewWobj.rot; !to copy the rotatoric part

i hope my memory was not playing a trick on me.

in your interrupt declaration just put in the program call an parameter.

INTERRUPT DECL INT_That    WHEN ConditionThat    DO IR_DoWhatEver(INT_That)
INTERRUPT DECL INT_What    WHEN ConditionWhat    DO IR_DoWhatEver(INT_What)
INTERRUPT DECL INT_This    WHEN ConditionThis    DO IR_DoWhatEver(INT_This)
INTERRUPT DECL INT_Why     WHEN ConditionWhy     DO IR_DoWhatEver(INT_Why)
INTERRUPT DECL INT_Because WHEN ConditionBecause DO IR_DoWhatEver(INT_Because)



DECL IR_DoWhatEver(Cause:IN)
INT Cause

SWITCH Cause
CASE INT_This   
CASE INT_That   
CASE INT_What   
CASE INT_Why    
CASE INT_Because
ENDSWITCH

END

how about this. u can pack it in a nice function

GroupInputValue:=GroupInput


IF GroupInputValue > POW(2,LengthInBits-1) THEN

  GroupInputValue = GroupInputValue - POW(2,LengthInBits)

ENDIF

hi zin,

let the system run 3 weeks and then compare them again

Date_Host is the Time from Windows which can also connected to a NTP server

Date is the Vxworks time and they can differ like mentioned before

it is sad the times are not equal. and also so sad the u only get the real time with KSS 8.6 over $DATE_HOST

cool thanks

thanks for testing exactly what i need. On what did u test this. OfficePC or Officelite?

did someone already try to write $INSIM_TBL[] and read $OUT[] best would the whole range at once

deinstall the extra software maintance msg if dont need it

the post before was more sarcastic meant. just showed the behavior how kuka is operating since i started working with them

well office lite seems to work that way but hey

just do this for 20 years and i can say it always that Kuka does it like i said and observing $PRO_IP and $PRO_IP_EXT confirmed it for me.

but hey maybe I'm wrong

since you don't approximate P1 the code does already what you want

if you really want that the robot is not moving you can "Wait For $Rob_Stopped"

the "Thinking ahead" only happens if you have C_Dis or similar behind Your movement because You don't want that the robot is stopping there

if you get into the taskmanager you can click on file--> run new task and start what you want.

for example Explorer. there u can access the desktop and run installation. if you have to restart cmd and shutdown -r may work but if the robot runs not advisable

true but the unknown operation mode and Qualifying input error is typical

just try the button. maybe loose contact.

Hello,

my guess is You had disconnected the KCP and didn't reset the ESC.

Right side of the Cabinet bottom circuit board. behind third plug on the front, counted from the bottom, is a Micro switch.

press it and see if it works again

Greetings

upps took too long

Yes but not with nice icons on the buttons.

either GripperTech or UserTech you can have Icons for the Buttons.

otherwise write in submit a program and use Is_Key_Pressed(14....17) to check if the buttons are pressed

its the "quick and dirty" version if you need buttons quick

IF Is_Key_Pressed(14) THEN

IF Is_Key_Pressed(14) THEN

  LampOn=TRUE

ENDIF

IF Is_Key_Pressed(15) THEN

  LampOn=Off

ENDIF

NumToStr(nCnvnum,0) only thing i see

what is with it? Doesn't work? Little more information what to look at

Did the functions work i prepared for u?