After performing the above-mentioned steps, I tried to see whether the tool weight is compensated by the robot or not. And the result is the tool weight is not at all compensated when i tried to move the robot by pressing and holding the White button (located below the Green button) after i pressed the Green button.
- Manual mode T1: You must select the attached tool, before the robot consider it while jogging the robot , likle in the attched image.
- If you want to move the robot in the program, while a tool is attached you should do so in the program, like this very basic example (For more info, see the documentation):
Code
package application;
import javax.inject.Inject;
import com.kuka.roboticsAPI.applicationModel.RoboticsAPIApplication;
import static com.kuka.roboticsAPI.motionModel.BasicMotions.*;
import com.kuka.roboticsAPI.controllerModel.Controller;
import com.kuka.roboticsAPI.deviceModel.LBR;
import com.kuka.roboticsAPI.geometricModel.Tool;
public class ToolExample extends RoboticsAPIApplication {
@Inject
private Controller kukaController;
private LBR robot;
private Tool myTool;
@Override
public void initialize() {
// initialize your application here
kukaController = (Controller) getContext().getControllers().toArray()[0];
robot = (LBR) kukaController.getDevices().toArray()[0];
myTool = getApplicationData().createFromTemplate("MyToolAsNamedInObjectTemplates");
myTool.attachTo(robot.getFlange());
}
@Override
public void run() throws Exception {
myTool.getFrame("TCP").move(ptp(getApplicationData().getFrame("/P1")).setJointVelocityRel(0.3).setJointAccelerationRel(0.3));
}
}
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