Hello,
The only toolbox that i found is:
https://www.mb.hs-wismar.de/ce…obotic_Tbx.html#InstKKTbx
But i have never tried this toolbox. I work with Matlab but i didn't have time to check this toolbox. Why is uncomfortable to write the programs with the controller on?
Hello,
Can you provide a short code for kuka program? I don't think that there is a converter.
Hello,
Anyone knows how to activate in K-ROSET on TCP in Auxiliary Function 11 Handling/Palletizing in order to activate conveyor tracking? I have an enconder but first i want to activate in K-ROSET and syncronize an axis with conveyor tracking.
Hello,
Thank you for information about CUBIC-S but can i activate in K-ROSET ? On TCP there is a a function : Advanced Setting --> Collision Detection Function, but in order to have this option you have to pay. Do you have a Collision detection manual?
The reason why I'm trying to monitoring the axis in real time is to create a collision detection function. Without having this function in TCP, i'm trying to write a program. For example if there is an object when i'm trying to move the robot between two points, I want to have a message "Stop there is an object, robot cannot complete the motion." But there are some difficulties what i'm thinking about. For example how to monitoring the trajectory for motion.
Any advices?
So, the DISTANCE function calculate the Euclidean norm or the Euclidean distance 
I'm using K-Roset 1.6.9 with license (2 months).
Hello,
I managed to execute your code, works perfectly and in the future I'll integrate the code into a bigger project. Many thanks!!!
I was looking for the DISTANCE function ... and I saw some differences.
DECOMPOSE a[1] = pos[1]
DECOMPOSE b[1] = pos[2]
c[1] = b[1]-a[1]
c[2] = b[2]-a[2]
c[3] = b[3]-a[3]
k = DISTANCE(pos[1],pos[2])
TYPE "k = ",k
TYPE "c[1] = ", c[1]
TYPE "c[2] = ", c[2]
TYPE "c[3] = ", c[3]
pos[1] and pos[2] have the following transformation values:
pos[1] -417.769440 455.669922 341.474396 -44.681805 173.548981 134.706635
pos[2] 132.227524 605.673645 111.470772 -44.678993 173.549393 134.709900
The results of the above code are:
>k = 614.73523
c[1] = 549.99695
c[2] = 150.00372
c[3] = -230.00363
Do you know how the DISTANCE function works?
About the synchronize button: i clicked on Layout -> Controller button having the Controller settings checked. A windows message appeared : Discarding Setting Values. Are you sure? I clicked Yes. But the sac didn't move.
Maybe i can install K-ROSET on my home PC and establish a team viewer meeting on weekend.
Yes, you are correct.
Not working :-s
Can we establish a teamviewer meeting?
Hello,
No, not really. What I'm trying to do is an equivalent to Axis Data Monitor. When the robot is moving, I want in IF Panel to have a real time axis values.
Hello,
I changed the signal number from the teach pendant (Input/Output Signal ---> Clamp Specifications ---> Handling Clamp Signal Definition) but without luck.
Have you managed to open my project?
Hello,
Thank you for your reply. I managed to integrate your code into my project. I know that you can create autostart programs that can run asynchronously with your main program.
I created a small program that robot moves from point1 (pct1) and point2 (pct2). The TCP positions are changing when the robot is at pct1 respectively pct2. So what i did is a static changing of the values. What i'm trying to is to have a real time modification of TCP positions when the robot is moving. A good equivalent for this is Axis Data Monitor (as you can see in Axis Data Monitor the values are changing in real time).
I attached two pictures.
Hello,
Thank you for your reply. I modified the signal numbers but the green sacks are still not moving.
LAPPRO #pick,200
LMOVE #pick
SIG 7,-8
LDEPART 200
In sample project 4.RS010N_Floor_Handling, obstacle 6 is moving and i don't understand how they managed to move that object.
Hello,
Thank you for your reply. I wrote a script in order to have a static difference between two points.
.PROGRAM calcdist() #298
DECOMPOSE a[1] = start
DECOMPOSE b[1] = stop
c[1] = b[1]-a[1]
c[2] = b[2]-a[2]
c[3] = b[3]-a[3]
.END
.PROGRAM principal() #0
1
JMOVE pct1
POINT start = pct1
POINT stop = pct2
CALL calcdist
TWAIT 5
JMOVE pct2
POINT start = pct2
POINT stop = pct3
CALL calcdist
TWAIT 5
JMOVE pct3
POINT start = pct3
POINT stop = pct4
CALL calcdist
TWAIT 5
JMOVE pct4
POINT start = pct4
POINT stop = pct1
CALL calcdist
TWAIT 5
GOTO 1
.END
On interface panel i have 3 variable data display (c[1] ---> dx; c[2] -----> dy and c[3] ----> dz). I managed to have a static difference between two points
and now I'll try to write a real time difference.
But what i'm trying to do is to have on interface panel a similar axis data monitor. As you can see in axis data monitor the coordinates are changing in real time when the robot is moving.
Do you think that is possible?
You can use KCwinTCP or if you have K-ROSET you can write the code in terminal command and save into a .pg file.
Thank you for your replay. I must write a routine in order to create a log for messages, but i don't know why.
Hello,
Anyone knows how to log the print messages? I want to have a chronological history of the messages. The messages may appear with the function TYPE,PRINT or IFPWPRINT.
Thank you!
Have you tried without a frame? How do you create the frame?
