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  1. Robotforum - Support and discussion community for industrial robots and cobots
  2. Members
  3. Spl

Posts by Spl

  • EL6695 FSoE and TwinSAFE

    • Spl
    • July 5, 2017 at 7:59 AM

    See the attachment


    Moderator note: that was internal document

  • Kuka iiwa r800 : Calibrating a base in the workbench with 3 point

    • Spl
    • June 13, 2017 at 12:38 PM

    You can use dot product to get an angle between two vectors.

  • Creating new frames on the KUKA smartPAD

    • Spl
    • May 26, 2017 at 4:55 PM

    Even if you can create new frames with the smart pad, what's the point if you can't make the programs use them without modifying the code using workbench?

  • how to achieve constant velocity at base origin

    • Spl
    • May 10, 2017 at 6:19 PM

    Have you tried using spline motion?

  • Robotiq Gripper Configuration in WorkVisual through EtherCAT

    • Spl
    • May 9, 2017 at 3:38 PM

    https://www.robot-forum.com/robotforum/kuk…86357/#msg86357

  • KRL; very first lines of program

    • Spl
    • April 24, 2017 at 2:28 PM

    Rel is a counter that tells how many times the document has been modified

  • error in logic function

    • Spl
    • April 12, 2017 at 11:03 AM

    $in[2]=true is assignment and end if should be endif

    if $in[2] then
    prgm_1();
    endif

  • Digital outputs delayed?

    • Spl
    • April 7, 2017 at 10:36 AM

    Using interrupts worked. With two interrupts that use pulse(), data from the scanner arrives now constantly 5 ms later than the data through EKI. I'm guessing the 5 ms is just the scanner's response / output delay, and it doesn't really affect the data synchronization.

    Thank you SkyeFire for the help.

  • Digital outputs delayed?

    • Spl
    • April 6, 2017 at 6:29 PM

    Thanks. Didn't know that the code execution can transition like that. Will try with an interrupt tomorrow, and I think I have read from the manuals that pulse length is a multiple of the ipo cycle.

  • Digital outputs delayed?

    • Spl
    • April 6, 2017 at 3:25 PM

    I know it must be frustrating, but it's also frustrating to me, because if setting output is supposed to be instantaneous, the results I'm seeing doesn't make sense to me.

  • Digital outputs delayed?

    • Spl
    • April 6, 2017 at 2:07 PM

    > 1. If you need real time and determinism use RSI. EKI is just not meant for that....

    I guess I could try RSI.

    > 2. If you want to improve performance learn about advance run and CONTINUE, use flags or variables instead of io and remove that 50ms delay.

    I don't want to improve performance. I want to find out why the $out=true/false doesn't seem to happen instantaneously, because the message sent through eki has been arriving max. 13 ms before the data from the scanner that's pulsed with the output. The 50 ms delay is there for a reason to limit the frame rate of the scanner.

  • Digital outputs delayed?

    • Spl
    • April 6, 2017 at 11:34 AM

    Just to clarify, the time difference isn't constant. The minimum it has been is 1 ms and the maximum 13 ms, not taking rounding into account.

  • Digital outputs delayed?

    • Spl
    • April 6, 2017 at 7:44 AM

    This is the code that I'm having problem with, and if as you are saying that the $out IS instantaneous, then I'll just ignore the time difference for now.

    Code
    FOR i=1 TO 20
       IF (NOT $OUT[17]) THEN
          ; rising edge
          OFFSET = 0
          CAST_TO(Buffer[],OFFSET,0,0,$POS_ACT_MES.X,$POS_ACT_MES.Y,$POS_ACT_MES.Z,$POS_ACT_MES.A,$POS_ACT_MES.B,$POS_ACT_MES.C)
          RET = EKI_Send("Server",Buffer[])
    
          $OUT[17]=TRUE
          $OUT[18]=FALSE
       ELSE
          ; falling edge
          $OUT[17]=FALSE
          $OUT[18]=TRUE
       ENDIF
    
       WAIT SEC 0.05
    ENDFOR
    Display More
  • Digital outputs delayed?

    • Spl
    • April 5, 2017 at 4:06 PM

    I know EKI and $OUT are two different things, and the scanner is MicroEpsilon's ScanCONTROL 2700. $OUT is only used to trigger the scanner to synchronize the robot's movements and the scanner's measurements. Both the scanner and the robot send data to the PC independently. I know there are possible bus, network and scanner reponse delays, but the time difference being 12ms just sounds like ipo cycle, so I'm trying to make sure if $out is actually instantaneous. The KRL program is just a loop that calls the subroutine continuously, which toggles $out on and off periodically, and every rising edge sends the robot's pose to the pc.

  • Digital outputs delayed?

    • Spl
    • April 5, 2017 at 10:40 AM

    KSS 8.3.28, KRC4

    I have a subroutine that triggers a scanner using $out and sends the current robot pose through EKI to a PC. For some reason though, the measurements from the scanner arrive to the PC 12 ms after the robot pose, so I'm wondering if the output is actually set electrically right after the instruction or the next ipo cycle.

  • IIWA R820 Sunrise workbench how to write negative normal force condition code

    • Spl
    • March 13, 2017 at 8:19 AM

    Well, I'm yet to code for IIWA myself, but looking at the code you pasted, the javadoc KIIWA pasted, and the manuals I have, just change the frame parameter of the createNormalForceCondition().

    So maybe something like this:

    AbstractFrame TCP = nase.getFrame("/TCP");
    AbstractFrame NewFrame = Tranformation.ofDeg(0,0,0,180,0,0), TCP);

    ForceCondition normalForce_x = ForceCondition.createNormalForceCondition(
    NewFrame,
    CoordinateAxis.X,
    40.0,
    8.0);

    OR you could just define a new frame to the sunrise project, and use that in the function call instead.

  • IIWA R820 Sunrise workbench how to write negative normal force condition code

    • Spl
    • March 10, 2017 at 5:44 PM

    Use a correction frame which axes point opposite to TCP's?

  • Adding a RS485 Ethercat Module (EL6021)

    • Spl
    • March 3, 2017 at 6:18 AM

    I highly doubt that card is going to work in the robot's bus. The only way I can think of to get it work, would be to add it to an external Beckhoff PLC, and then pipe the data to the robot using EL6692 or EL6695.

  • KUKA KRC4 with ethercat bus

    • Spl
    • February 15, 2017 at 7:33 AM

    Or just use EL2624 if relay output is what you need.

  • KUKA KRC4 with ethercat bus

    • Spl
    • February 13, 2017 at 3:15 PM

    The operating manual states that the lamp takes ≤120 mA, so there should be no reason why it shouldn't work.

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