Posts by leoyang

that's what i want.
thanks very much!

how to debug the karel step by step?

i know it works. but you have to change a system variable to disable the alarm of stationary welding .

i want to program a path with many nodes, each node has its own condition handlers to change motion speed.
and the node speed between forward and backward are diffirent.
is it possbile to use the following sentence:
CONDITION[TRANSFERSPD]:
WHEN PAUSE DO
node.speed = 0
WHEN AT NODE[n] DO
node.speed = 10
...
ENDCONDITION
...
path.$condition_Num[2] = TRANSFERSPD
...
move along path

what's the difference between softfloat and force sensor?

is it possible to have the interference check function for dual arm on the same slide to avoid collision between robots?
not only TCP interference check, but also for robot body or base.
thanks!

can anybody share an example to create the dynamic base by program?
Is there any build-in routine which can output the base frame by three positions as arguments?

it is the example from the kuka manual, now i already understood it.
thanks!

could anybody explain how to create the transformation about the turn table?

we have a project with IPG YLR-500 power source and precitec cutting head.
i have no experience about lasertech and lasercut,
can anybody share any krl example for lasercut application?
is it possible for krc4 to integrate the YLR-500 for the lasertech application?
thanks in advance.

thanks. i will try to reduce the points on path.

but who can explain the theory?

the manual of fanuc robot explain this phenomenon , refer to the attached file.
but i can not understand the real reason.

maybe my description is not clear, please refer to the attached sim picture.

i want the robot to move along the trajectory which is created from robo master .
i found that the robot speed is much slower than the setting speed value.
for example,
setting robot speed : 300mm/s
the positions of trajectory is very density, 1 pos/2mm

i think that maybe the read-ahead function of robot is too slow to keep up with the real robot speed. (<6ms)

is there anybody can help me to explain this phenomenon?

why not use ethernet communication? the tracking software was already ready you can install an opition and use the tracking function easily.

thanks!
you mean the variable '$SCR_GRP[n].$MOVE_DST' can calculate the path length before program execution?
i will test later, thanks!

1. you have to know the approximate location of the hole before program
2. get the mathmatics realation formular of the holes location
3. for one specified hole, you can do like this way.
1)move the robot to the approximate circle center pos.
perform fillet 1D search 3 times on the different circle edge, and you can get 3 values of the contact record PR (default PR[32]). note: record pr[32] to another available PR[] after each search in time, otherwise the pr[32] will be overwritten.
2) you can calculate the circle center by 3 points.
3) set new UF to the circle center, and teach the circle path according the new UF.

0. i tested iRvision 2D and servorrobot sensor one year ago, but just for test ,not real project.
1.i think, normally, iRvision snap the part charactor first, then calculate the position difference in space, and robot run the trajectory by vision compensation.
2.according to your application, you can choose one or two iRvision cameras for 2 arms. the vision data can be transfered between two robots.
3. iRvision 3D maybe also can scan the part profile, but i think it's difficult to deal with the tracking algrithm.
4.for your case, the wave plate maybe differ from each other. i mean the overall shape is different, so i think there is no existing software in iRvision can support your application . it's better to use servorobot to realize the realtime tracking.
5.i think it's possible. but will you do it this way for each part?
6. i am interesting about how do you want to deal with the torch posture during arc welding?

thanks for your reply.

i thought the solution as your suggestion, but it's very difficult to calculate the length of space curve, it's also related to the robot speed and fly mode.

is it possible to read the length of a path trajectory? such as routine trajectory_length (path[2..5] ) : REAL