Posts by chocobo_ff

I'm trying to set up a workspace envelope for a complex part the robot has to work with. Looking at the documentation, it seems to suggest that the workspace monitoring is only for when the tool enters the space defined, so if part of the robot enters the workspace, the program wouldn't know about it? If the program is able to monitor when the robot enters the workspace as well, great, otherwise I have other (complicated) ways in mind to deal with this issue if this is indeed the case...

The robot involved is KR30 with KRC2 controller.

Many thanks in advance

I was wondering if the trial version of OfficeLite 4.1.7 is still available somewhere? I have some logic that I would like to test out, and the last time I experimented with something fairly new our KR60 crashed into a nearby pole (luckily the damage was only to a $20 piece tool mount...) so now I would like to try the logic in a simulator first if possible before moving to the KR60.

I was wondering if the free trial version of OfficeLite (v4.1.7) is still available somewhere on the net? I'm working with a KR60 and there are some logics that I'd be much more comfortable testing in a simulator, since the robot recently crashed into one of the beams... luckily only the tool mount was damaged which was a $20 fix, but would like to avoid that problem by testing some stuff in a simulator, thanks

Hi TygerDawg,

Yes I read your post somewhere, and had thought about offsetting the tool, in fact the tool already has an offset of 60°, and I've added a small (100mm) offset horizontally in the setting (without changing the actual mount to see what this does). This did reduce the issue, didn't eliminate the problem but what we've decided to do is to shift the part with respective to the robot, and this helped a lot. Unfortunately I was hoping there would be a way to eliminate singularity, but I realise it's an inherent issue with this kind of robots...

Thanks!
Danny

Hi Fubini,

At the moment I have:

• $CP_VEL_TYPE=#VAR_ALL so the robot doesnt' exceed the speed limit on A4/A6 and stop.


• $SINGUL_POS[3]=1 to try and prevent A4 from rotating ~180°

I will check out $SINGUL_STRATEGY soon.

How do I check the value of $SINGUL_DIST[]?

I'm having issues with singularity (axes 4 and 6 rotating really fast), and I've been reading this thread, (new link) where SkyeFire suggested avoid letting A5 approach 0°. This is however impractical for our application due to our mechanical setup/path profile. Someone's looking into changing the mechanical setup, but no easy way to do this for what we are doing.

In the mean time, I'm trying to set $SINGUL_POS[3] to 1 which will "The angle for axis 4 remains the same from the start point to the end point", and should avoid the problem I'm having with axes 4 and 6. I tried changing the value in R1\Mada\$machine.dat according to the Systems Variables manual, but that did nothing (after restarting the system). Am I changing the wrong value/file or is there a reason why the change didn't do what it should do?

I can provide a video of what the robot is doing now if that helps.

Great, thanks! I'm getting info on it from the distributor now

Thanks, I started looking into Anybus yesterday, and am waiting on the local distributor to answer some of my questions. Did you encounter any problems with Anybus with KUKA? From what I read it should integrate into the system seamlessly, but any comments from end-users would be great

We are wanting to communicate with some external controllers which use CANopen, and looking on the KUKA website, there doesn't appear to be a module for CANopen. Is this true, and if so, does anyone have any experience using a DeviceNet/CANopen converter? Even if there's a CANopen module for the KRC2, I suspect it might be cheaper to get a converter if this works with the KRC2.

Also any recommendations for a converter?

Thanks, I've never heard of this before, but looks like it might be useful for what I need

Thanks SkyeFire. I've actually done something similar for another project, where I've done incremental movements and used interrupt to check for changes in the path required:

INTERRUPT ON 20
FOR i = 1 TO 10
  ...
  LIN P1:P_offset
ENDFOR
INTERRUPT OFF 20

And the interrupt calls a function which adjusts the value of 'P_offset'. I was thinking maybe there's a smarter/tidier way to do this, but I may have to do that again for this. The client doesn't have RSI or FTC and I can't imagine they would want to spend the money for this one part of the code, so that option is out of question.

Is it possible to add an offset to the path while the robot is moving from one point to another, e.g. if I'm going from P1 to P2, and I want to add an offset of 10mm half way through because there's a sudden change in the location of the target. I know I can do this with say P2:P_offset if the offset is known before hand, but I need to handle this in real time.

Thanks in advance!