Yes, we could suggest this, since being able to approximate motion commands is a highly overrated feature inside a robot controller.Fubini
I really don't understand the irony.
What's wrong with what i said?
Yes, we could suggest this, since being able to approximate motion commands is a highly overrated feature inside a robot controller.Fubini
I really don't understand the irony.
What's wrong with what i said?
variable assignments are done in advance run.
this is why changes of variables (declared as integer or boolean flag) appear early - they are processed by advance run pointer
certain instructions and instructions that read/write I/O cause advance run stop (WAIT, INI, etc.)
this is why declaring signal instead of integer would work (it consists of outputs)
Well.. i've googled a bit more. Why didn't you simply tell me to use $ADVANCE=0 ?
I just used the example
"You could set a global boolean to true before the "wait sec 0", and set it to false after "wait sec 0". You can then put your "loop" in the SPS, and only execute it when the boolean is equal to true.
/RoboticsMan "
And i still have the same result..
I have the manual right in front of me .. And the only thing that i read capable of avoiding that is using HALT ..
Proper way to do it pls? An thank you for your patience.
There's no way to read that values from my application..
I've tried another thing, but what's happening is somehow unexpected: the VARACTUALPOSITION assumes the value 2 before the robot reach P1 ..
SWITCH VARPOSITION
CASE 1
PTP P1
VARACTUALPOSITION=2
i just re-read your original post.... if i understand correctly, you don't need help with mapping I/O or setting up some fieldbus, you just want to turn on an output when robot reaches certain position. this is already done for home position. there are five more home positions and i would expect that they all do the same thing (never tried). there are also workspaces (axis specific, cartesian and cylindrical) which can tell you if robot is in certain place. finally you can make your own routine to check this... here is one such function and example program
Not exactly that, but it helps as well !
I've declared a variable in config.dat
DECL REAL POSITION ;from 1 to 10, cause it only has 10 intermediate positions
and in my program
PTP A
POSITION=1
PTP B
POSITION=2
PTP C
POSITION=3
(...)
The point is to have some kinda feedback when it reaches some position. But the way i'm doing it (position=1 p.ex) it doesn't change the value in the config.dat, and it is the only place that i'm available to read that value from ( with my resources).
you can read and write outputs individually or as signals - regardless if they are mapped to some IO hardware. of course to use output outside robot programs, it need to be mapped to a physical IO point. depending on type of used network, you may need to get appropriate tech package such as EthernetIP or ProfiNet.you can also read WoV manual and Programming manual for System Integrators for details (or take training).
I just talked to a Kuka iberia technician and he told me that i can do it without any extra-tech . That i just had to map that output to the variable i want..
He was in a maintenance so he couldn't tell me much, but i find it kinda weird..
You can create a program in KRL that will read a variable and convert it into a value on a range of outputs.
Looks interesting.. But i don't get how can i read that values . sorry
Gonna dig this again.
Is there a way to read the variables values in config.dat ? only read, don't need to write.
I'm looking for the same answer.. And the "default" tool and base as well .
Looked everyone and found nothing
My home position is: A1=0 A2=-90 A3=90 A4=0 A5=90 A6=-90
but when i go to cartesian space, it shows: X=930mm Y=0mm Z=1161mm A=13.38deg B=-90deg C=-103.38deg
is this a normal behavior?
I changed my home to: A1=0 A2=-90 A3=90 A4=0 A5=90 A6=-90
but when i go to cartesian space, it shows: X=930mm Y=0mm Z=1161mm A=13.38deg B=-90deg C=-103.38deg
is this a normal behavior?
Hey there!
I've been making a lot of posts lately, but i'm pretty new to Kuka.
How can i calibrate a tool properly only knowing the weight? The center of mass is not centered with the axis it is attached to.
And i don't know if it's making some difference, cause when i move the robot using World reference, for example in the X axis, it changes the C value as well.
Thank you for your replies.
What about the implications? At this moment i have a tool/payload with +/- 12kg ( but not yet calibrated! )
At the old home position the motor torques were way more precise than the actual ones. Why is that?
Hey there!
I have a kuka krc4 with a not-that mobile tool ( the range of the tool cable is small - and it's fiber , so it has to be that way ).
So, i need to change the Home position . What are the implications of doing that? And how to ?
I'm assuming this cause i can't imagine the programs running without a initial home sak. Right? Thank you
On the SmartPad, use menu HELP>INFO>OPTIONS. This will list all option software packages installed on the robot.
That's what i thought.. i have BoardPackage and RemoteService ..
Data sheet says it works as Profinet or EIP. Do you have either of those option packages installed on your KRC4?Not familiar with that Turck device, but you might need a normal PLC to configure which bus system it uses before you can connect it to the KRC. And you'll need to get the appropriate device file from Turck's download site and import it into WorkVisual.
Yes i mainly work with it via ethernetIP and modbus.
I've searched all the menus and i couldn't figure out where to search the installed packages ( i guess i only have the basic robot package...)
____EDIT____
is there no option to send a analog signal? my card converts analog in digital as well..
It's impossible to answer this without more information. Controller? KSS Version? What kind of I/O card is it?The short, uninformed answer is that the robot needs to be configured to talk to your I/O card via Work Visual. Once that configuration is complete and operable, you should be able to see your output over your network. And no, you don't need any option package for this, generally speaking.
kr16_2 c4 6 axis, ks v8.3.137 ..
it's a TURCK_TBEN-S1-4DIP-4DOP , if u google u can access the datasheet
Hey there,
do i need some extra package to get an output from robot when it reaches some position? It's a Kuka KRC4
something like:
PTP P1
OUT X
PTP P2
and me being able to read that X (as boolean ofc ). I have a I/O card and i don't know if it's possible to implement it..
well forget i did my research with the wrong word.. it's Fold, not folder..
;FOLD name
<commands inside the fold>
;ENDFOLD
Thank you!