If you specify the status and turn values, of course they will be evaluated, and because 0 is invalid value for both status and turn, you get the error. If you don't want status and turn to be evaluated, specify only the x y z a b c values.
Posts by Spl
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Try the linear move without the c_dis approximation. Also, instead of $base = ... you could use bas(#base,1) to set the base.
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Another way would be to define the face position as full pose (position and orientation), and then define a long tool that can reach that pose. And you could also dynamically adjust the tool z according to how far the face is from the rob root.
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1) Calculate rotation matrix from the current abc angles
2) Calculate rotation matrix that aligns flange z-axis with the vector from flange to face
3) Multiply the flange rotation matrix with the second one
4) Calculate abc angles from the resulting rotation matrixhttp://math.stackexchange.com/questions/1804…-vector-b-in-3d
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Define an integer variable that you increase when you fill the array, so that you know how many valid poses there are in it.
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Well, of course it doesn't work if you configure both PC and the controller as a server. If you start the XmlServer on the controller, you need a client in the PC that connects to 172.31.1.147:54600. The EthernetKRL_Server isn't a client.
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Connect the CX to the X67.1 and see if you can scan the bridge to the CX's project. If you can, then you configure the input/output messages that are sent through the bridge at CX's side and at KUKA's side. If I remember correctly, the message sizes should be multiples of byte. Also note that the input message at CX's side is the output message at KUKA's side, and same with the other way round.
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Ok. So, we have the controller connected to the X1 port of the EL6692 but the X2 is empty because the bridge is installed to the CX PC, so it's using the CX's internal bus.
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Can't remember if we had the KRC4 connected to the X1 or X2, but will check that tomorrow.
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KRC4 is unable to communicate directly with the CX embedded PCs, because there's no way to configure them to KUKAs EtherCAT bus. That's why you need the EL6692 between the CX and KUKA which can be configured at both sides.
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You need EK1100 EtherCat coupler and EL6692 bridge.
You need WorkVisual installed.
It is used to configure your FieldBus (hardware) and INs and OUTs. No way around it.
Once you have hardware installed X65 is used for EtherCat communication between KRC4 and PLC (through gateway EL6692)X66 is can be used for WorkVisual. It is Windows network interface (along with Profinet or Ethernet IP)
EK1100 is not necessary. You can connect the EL6692 directly to the X44 interface.
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Yes it's a real time control of the robot in pretty much any way you want. And I really don't see any other way you could properly sync the virtual environment and the robot motions, but maybe someone else does.
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If you want to control the motion from the remote computer, I would suggest you to consider using RSI.
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I'm not sure if it's possible to kinematically calibrate the robot with cameras, but you could use them to map the kinematic inaccuracies in the robot's cartesian space. For example program the robot to move along square or circle path, track the tcp's path with the cameras, and calculate inaccuracies from the results.