Great.
Thanks.
Posts by spiral
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Only V6.0.31 is available for download.
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If you can upload it will be great.
Thanks
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Hi,
can someone send me link where i can download this version of WV?
V6.0.29_Build3018
Thanks
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Try maybe with $ROBROOT_C. It shows you the position of the robot when you move the linear axis. Then set the Base to this Variable.
BASE_DATA[1]=$ROBROOT_C
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Under "Programming and Diagnosis"
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Try
BAS (#EX_BASE,Base_No)
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$ACC.CP = 0.10000
Why is this set so low?is there any reason? I dont know the default setting for 20kg robots,but for 200kg robots is 2.3.Try to increse this value. There is variable in $machine.dat $ACC_MA it shows you the max value you can set.
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It is a KRC2 controller with standard X11 plug.VKRC2 has XS2 safety plug.
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The robot reads the data every 12ms.How fast the external system actualise the data?
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How fast you get your position data from the external system?
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set the axis in asynchron mode. Then open the $machine.dat file in folder KRC/Steu/Mada and put the signals from the plc here:
SIGNAL $ASYNC_AX1_P $IN[1026];plus
SIGNAL $ASYNC_AX1_M $IN[1026];minus
SIGNAL $ZUST_ASYNC $IN[1026];release from the plc
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cannot open the robodk file.
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Talk to the guy who generated the programm in RoboDK. You have this at the beginning of your programm:
; Program generated by RoboDK v5.6.7 for KUKA KR 90 R2700 pro on 07/02/2024 12:06:58
; Using nominal kinematics.
; ---- Setting reference (Base) ----
; Using external axes
; $BASE=EK(EX_AX_DATA[1].ROOT,EX_AX_DATA[1].EX_KIN,EX_AX_DATA[1].OFFSET)
; $ACT_EX_AX= 1
$BASE = {FRAME: X 0.000,Y 0.000,Z 200.000,A 0.000,B 0.000,C 0.000}
; --------------------------
; ---- Setting tool (TCP) ----
$TOOL = {FRAME: X 257.000,Y 0.000,Z 61.500,A 0.000,B 90.000,C 0.000}
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In your config.dat there is no Tool or Base data.They are set in testprogramm.src. The turntable must be measured as well.
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in config.dat under BASE_DATA. Is the turntable measured and coupled with the robot?
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As i said it is already in the WorkVisual.
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You dont need to install.It is already in WorkVisual.Just select it as interface.
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Quote
Then I read that $ANOUT[1]= cannot be a math formula, just -1 to 1, which means probably -100%...0%....100% scale, so $ANOUT[1]=1 maybe the correct synatx???
Can you confirm me that?
1 is equal to 10V.
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It shows you that is a global point.
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