# Posts by hermann

• ## Traversing a Point List and/or Auto-Generating and Using Point Variable Names

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:

Code
``````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.

• ## BRAKE, RESUME, continues path and RESUME point

..

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.

• ## Position-orientation relation calculation in RAPID

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.

• ## ASYPTP moving E1

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.

• ## ASYPTP moving E1

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.

• ## Position-orientation relation calculation in RAPID

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

• ## ASYPTP moving E1

There exist several requirements for asyptp movements:

- there must be configured a external axis

- the external axis must be configured/switched as asynchronous

• ## Set up CIP Safety (Ethernet/IP) communication between KR C4 and Schneider M580 safety PLC

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.

• ## what would be the equivalent Instruction in rapid?

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.

• ## KRC4 controller with Profisafe

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.

• ## Home helper project

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:

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.

• ## Home helper project

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¢

• ## KRC2 error on writing driver DN2DVR

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.

• ## what would be the equivalent Instruction in rapid?

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

Offs (..) is the keyword.

• ## Problems Using Old Project

- 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.

• ## \$MOVE_ENABLE 与\$STOPMESS

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

• ## UNKNOWN OPERATION MODE error when E-Stop are not preseed.

There are more messages! Look for the scrollbar.

• ## UNKNOWN OPERATION MODE error when E-Stop are not preseed.

Look for the other messages.

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

Why do you think this?

• ## Officelite "Type Expected" Error

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.

• ## Program pointer line number export

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