that is current tool and base
if you wish to jog robot, you can change tool and base.
when you run program or teach points, tool and base from current motion instruction will overwrite current tool and base with values used in particular motion instruction(s) as they are processed.
Posts by panic mode
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that is an inline form motion and contains info on both TOOL and BASE
when you teach point on inline form, robot will always use that tool and base. -
Don’t have a link but i recall link was in one of posts in this forum section. Hope it is still there...
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whatever market will bear
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just read the manual, it shows code examples
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well... program is nicely structured and well documented in three languages.
the most important part is to know German and Kuka advanced programming.how soon do you need this and how much it is worth?
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as already suggested - read pinned topic READ FIRST
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create simple batch file to copy traces to USB. then whenever you need them transferred, run the batch
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do not waste space and re sample your attachment. read READ FIRST
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if you are new to KUKA, use teach pendant to program and - use inline forms only.
teach pendant will give you immediate update when you mess up. -
you can read pinned topic READ FIRST and provide details. what is the exact controller type? what is the exact KSS version? are there any external axes (and RDCs)? can robot EVER run program? (for example after "repair")
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FAST_IPO should be 4ms
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usual IOs are the Ethercat modules from Beckhoff: EK1100 + EL1809 + EL2809
you can create listener or brake condition to abort current routine or motion
smartPad does allow creating frames, and they can be nested. you need to write program to use them
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problem is not with writing, messages show that both reading and writing fails.
in my experience, most of the time issue is with the hardware (wiring, terminations, node address mismatch).
if this is solid, next thing to check is master settings (correct GSD file, matching node address, supported speed, io range etc.) -
sounds like you are observing effects of elasticity of the robot mount and joints
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[size=2]KR500 is not a lightweight robot, there is some inertia too. btw, is load configured correctly? this will have a significant effect on responsiveness. You should use trace tool on KRC to check response of the robot (signal arrived, setpoint changed, position change etc.).[/size]
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correct... functions return value and normally there is an assignment of that value o a variable through equal sign.
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as mentioned before, suspicion is that you are calling functions as if they were subs. that is not going to work.
indeed, you "fail" code is lacking
RET=