Posts by hermann

Handling a big array that is splited in two or more arrays isn't that complicated.

Create two arrays, let's say arr1[500] and arr2[500].

Then create a procedure and a function to set/read the big array, here the function to read:

Deffct e3pos readarr(index:in)
Decl Int index
If index<=500 then
 Return arr1[index] 
Else
 Return arr2[index-500] 
Endif
Endfct

For setting, create a procedure with two parameters: index and value to set.

If you have more small array parts than fit into one Dat file, you must declare them global, or you need to create global function/procedure in every corresponding src file, and call them to access the small arrays.

Hope it's clear what I mean, otherwise ask.

Quote from Dvskns

..

Is there a solution not stopping on the interrupt but directly changing the movement to a new position

..

How do You want to change the movement into a different direction without stopping?

That's physically impossible, you always get a velocity of zero when changing the path to nearly the opposite direction.

Rtfm, there is a small example in the manual. You don't need PoseVect, as you can use Posemult and Poseinv instead of it, but may be it can shorten the calculation. Just a short thought, haven't really precise thought about your problem, as it seems to be simple vector arithmetic.

Quote from SkyeFire

If you can move the axis synchronously (assuming you mean kinematically integrated), then you can't use ASYPTP. One or the other, not both.

It is possible to switch kinematically integrated external axis to asynchronous, not for base kinematics, but for example for a turn table. See the chapter about "$ASYNC_AXIS".

We use it in several cells, with a simple turn table with two positions on which there are mounted two external axis. The external axis are switched frequently from synchronous (and intergrated) to asynchronous. The synchronous part does some kind of deburring, the asynchronous does the load/unload process.

Did you read the refered chapter 8.6.1? Think there should be explained, that when you have

$EX_AX_ASYNC=1

external axis E1 only can be moved asynchronous by asyptp without doing any extra step. Otherwise you have to set $ASYNC_AXIS=1 before moving E1 by asyptp.

Look in the manual for PoseInv, PoseMult and may be PoseVect. A smart combination of them will do the job.

There exist several requirements for asyptp movements:

- there must be configured a external axis

- the external axis must be configured/switched as asynchronous

Quote from robotninja

Yes, it seems to have Ethernet/IP installed (it shows up in Kuka-configured project loaded from KRC4 on WoV). M/S 4.1 rev 3

In your Screenshot you have 1.4.3 and 4.1.4. Have a look into the help screen on the smartpad where the options are listed.

Wouldn't give that much on those numbers, may be Kuka have some kind mixing up the numbers.

Installing the KOP files in many cases is not necessary, may be it will work anyway.

No, but you can create it.

Make a routine that reads the actual position and then move per offs to that position. Works only without blending.

No, you have to use PLC as controller, and the robot as device. The device on PLC is not used, forget about all the device possibilities of the PLC, disable the device on PLC side.

Quote from neki127

Well we have to get a "reallistic" sum of production..

Then at first you have to think about the real hardware you will need. At the moment you only said:

Quote from neki127

a robot that is able to move around the house and can be interacted with through the app that will connect to the device.

Should it have wheels or legs, kind of mechanical, animal or human appearance will say something like r2d2 or more like c3-po? And also the size matters, in this case.

The cost will vary a lot.

For example search for "robot dog" in your favorite search engine, and you will get an idea of the price for one of the options.

Have no idea for the costs of a useless thing like that. But as it is a fictional startup, you also can assume a fictional price of let's say 800, or may be 1800 bucks, whatever currency you want to have.

For realizing your idea, you also can use a simple smartphone, OK, it can't move around, but many people have it always with them, so it walks around passively.

And if you search in the app store of your phone, I bet you will find an app, that does at least a part of your quests.

Just my 2¢

Thread

READ FIRST...

how to post correctly:

1. be a good citizen and follow common sense. this includes no sharing or asking for copyrighted material. such posts will get you banned (because we don't want Kuka legal team stepping in and request ban on all manuals). an example of something that will get you in trouble is any material from Kuka College.

1.5 make SURE to post in the right forum section (manuals in manuals section, IIWA and Sunrise topics in IIWA section). see attached example for IIWA... sigh..
Please…

panic mode

Jun 5th 2016

You can restart/reconfigure the bus via configuration menu, that's much faster than rebooting.

Did you try it after one minute?

Describe the bus topology.

MoveL Offs(p2, 0, 0, -100), v1000, z50, tool1;

Offs (..) is the keyword.

- the picture of your options isn't available. Attach it correct.

- only suggestion: it seems that you are missing the opc option on your office lite.

You can try to install it from the older robot, if you have the option files from that robot.

- if the project really uses the opc option, you need to install the option.

- one possibility would be to copy the program files manually into the new project, compare the system files of old and new project and copy relevant parts line by line. Export/import things like I/o and safety coniguration. This is the way I have done it most time, and it always worked for me.

Set the address of move_enable to the corresponding output on PLC.

There are more messages! Look for the scrollbar.

Look for the other messages.

Quote from FernandoAR

.. it seems KPS600 is awaiting another signal to be ready,..

Why do you think this?

Every error shows the line and column, so you can look in which column the error is.

Think about what's in that column, I bet there is a name that's a reserved word as f.e. READ, OPEN and so on.

No, I don't. Never thought about, and don't want to, Doesn't make sense at all or me.