There is not one daimler standard for every plant of them in the world. You have to contact the project manager to get the actual standard for your project.
Posts by hermann
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$pos_int during Interrupt otherwise $pos_act
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If the distance in Z is 20 the z component of the base should be 750-20=730.
How do you calculate/measure the base? -
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in order to connect controller must already be in the EXT mode
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Or no Smartpad connected. -
You will not be successfull with this project without changig configuration on PLC. Krc4 has a complete different PB slave than KRC2. So you have to include the GSD description into PLC and change the slave in PLC.
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...Is this possible?, I mean, is possible to command each axis like this?
...No. You always have to give a destination position where the axis has to move to. The only possibility is like described by panic_mode. But in that case you can give the destination from beginning and don't have to watch to the actual position to stop the motion.
May be You should describe the backgroud for your task, so we can give another solution. At the moment I can't imagine why man should start an axis, watch to the position and stop at the desired position instead of giving the position from beginning. -
You should try a PLC forum.
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What has this to do with KUKA robots?
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No. For example if the TCP stand on the same position and only the orientation changes the TCP has velocity zero. But the tool changes orientation with the speed/acceleration given in the mentioned variables.
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There exist controller with EtherCat interface from smc, so you can use them.
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No. It is not possible. No matter which robot is connected to your krc4 controller.
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In other examples of printing where I had less points, it was much more visible as movements between points were straight lines and the sides of the print were faceted and not curved.
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If You use linear movements with few points which should approximate a circle You will get straight lines with little curved transitions between the straight lines. You can see this behaviour in CAD as well, if circles are appoximated by straight lines. You will never get a good circle with few points and big approximation radius, that's not the purpose of approximate linear movements. -
....;FOLD STARTPOSITION
$BWDSTART = FALSE
PDAT_ACT = {VEL 60,ACC 50,APO_DIST 20}
FDAT_ACT = {TOOL_NO 7, BASE_NO 1, IPO_FRAME #BASE}
BAS (#PTP_PARAMS,100)
PTP XHOME6
LIN {E6POS: X -67.5, Y 0.0, Z 212.2, A -180.0, B -90.0, C 0.0, E1 93.0, E2 0.0} ;
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I've used different APO_DIST amounts even going less to see if it had any effect (5, 10, 20, 50, 100) and still no approximation.
....Opening ;FOLD and no ;ENDFOLD ---> Your code is completely hided in the FOLD?
Setting PTP parameters: BAS(#PTP_PARAMS,100) and then moving LIN. What do you expect with changing PTP parameters (APO_DIS) on linear movements? There will be no effect.
You should try to use LDAT_ACT and BAS(#CP_PARAMS,0.1) or setting $APO.CDIS directly.
Or did You (like many others) change the code before posting here? -
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... Full details are shown using the link below....
Where is the link -
It's Windows (TM) inside.
May be the accu is defect, so the shutdown doesn't work properly.
Or the harddrive has a problem. -
Connect a monitor to the controller and look for the messages.
Should be:
Connect a monitor to the controller and look for the messages on the external monitor. -
Connect a monitor to the controller and look for the messages.
Or restore an image, if you have one (most people don't) . -
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On those old controllers sometimes it was necessary to reboot after changing parameters. Only reconfigure drivers didn't do the job.
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No. Form 1 is correct, because he doesn't use dn2drv.