Hello everyone!
Is it possible to comment several lines standing one-by-one in another simple way instead of adding semicolon to each line?
like in java:
/*
text
text
*/
Posts by skottt_kzn
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Because of present configuration (1 tool), we can't use existing tubes to route new cables. Overall diameter will be much larger (water supply, power supply e.t.c.)
I've made some photos of existing robots. 2 robots: as i think first one in non-quntec and second is quantec.
This "energy supply" package - can we use non-kuka conduit? Leoni/igus systems? -
Hello everyone!
I have kuka kr240, that for now used with 1 tool.
In future i plan to use it with 3 spot-welding guns. Of course i will use tool-changer system. But i have one problem:How can i trace all cables (power supply for welding gun, fieldbus, water supply in&out - all of this will be connected to tool-changer) from base of robot to tool-changer?
On the base of robot i have box, on side of it placed motor cables and RDC (as i think). Maybe through it?Is there any place for cables inside of robot base? And how can i connect cables from base to housing of A1 axis, so then i was able to lay the cable through leoni system?
Maybe someone have detailed design documentation for robot? -
Sorry guys, post it here, because eM/Robcad thread on forum doesn't seemed helpful.Official models from KUKA site doesn't work. When i start import operation, appears error and model doesn't created.
Maybe someone have already compiled model?
I need robcad (.co extension) model. Just it. -
Why you just don't connect with local KUKA customer support? They would provide all necessary information that you need. Include price, delivery,part numbers, etc...
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Colleagues told me once, price was around 1k euro (extended version. forget difference between two types of it. remember that they have different colour: orange and black one).
When you work as independent machine-shop it's kind'a expensive. (of course, when you work on plant any obstacle would go away).
And:
yeah, you right: 1%. But, you will also needed:
tech packages, tool, plc system, blah blah blah. It's a snow ball. Total cost would be so huge.
So... -
Recovery stick expensive pretty much
Had experience one time:
With no stick, just create an image through Acronis Disk Director Suite from kuka-HDD to other one (bought in store with same memory size) , then perform modifications.
When i realized, that i do some mistakes, just restore backup-ed image of kuka-HDD backwards.
Good luck! -
Why is linear motion safer?Because u would know exact motion of your engines, and in this case you can predict any potetnial collisions. Any {pick/place/change welding guns/approach changed offset/etc} movement must be performed as LIN-motion type IMHO.
Any way, good luck! -
Search C5G manuals (motion control manual). Or ask forum-members, maybe someone already have it. Part 18, page 211.
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use:
ptp_rel {position} #TOOL
where:
position is POS, E6POS, AXIS, E6AXIS - type variable. For example:ptp_rel {x -100, y 100, z 50) #TOOl; will move robot in tool-frame x by -100, y by 100, z by 50.
Don't forget to use #TOOl, otherwise robot will be moved in #BASE frame (pre-defined)
But why ptp? When is safer to use lin-motion? ...
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To compensate TCP by y-axis usually used scaning technologies (TH6D scansonic or similar). Your task (circular movement) can't be easily soleved used only KRL-functions. You point a right way: when end point changed, then all path changed dramaticlly.
Maybe you can program this path using spline-type movement. But also you'll need to move eash position to provide plausiblity. It would take more time and hard cycle-proggraming ( using plc with HMI)
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":" - operation to move one frame relatively another one and get coordinates of it. In first, perform XYZ movement, then performed rotation.
Of course, you can perform all euler angles and stuff, but why? It can be simple solved by hand-drawing on paper and easy aritmethic operations.
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Hi everyone! I got a problem:
I've downloaded kuka robot "KR 360 R2830" model .co from original site. And it's don't want to be imported in RobotExpert. Stopped with error:"Conversion finished with errors....log_file_destination....The application can't import thx XML file..."
In log:
ERROR Failed to convert to .cojt file: D:\temp\kr360r2830_4.co [CAD2COJT_4005]
ERROR Failed to convert to .cojt file: D:\temp\kr360r2830_4.cojt\kr360r2830_4.jt [CAD2COJT_4005]
ERROR Failed to convert file: D:\temp\kr360r2830_4.co [CAD2COJT_4004]Any solutions?
