Posts by krek
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hehehehe... I accidently deleted line from post....
-- Does anyone have an exapmle of this kind of counter? -- -
Hi ppl,
I am trying to make counter that would count what program/case was done per day.
Controller:Kuka KRC4Thank you.
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Thank you for information/advice , in paint cell we wont have many color changes per day... I will need to do more corections to programs and new painting program,so offline programming and easiness of creating new paint programs is important...
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Both ABB and Fanuc integrators are close so that is not problem and I will hire one of them for integration.
The thing that troubles me is programming later on, which is easier to learn and program. -
Hi ppl,
I have trouble deciding what robot to use for painting purposes.
Payload is min 10kg
Work range is min 2000mmAny help is welcome.
I have not worked with either of them so it should be user friendly.THNX
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Check on the movie, so that you can see what is the issue.
Code
Display MoreDEF SPL ( ) ;FOLD INI BAS (#INITMOV,0 ) ;ENDFOLD (INI) ;FOLD STARTPOS $BWDSTART = FALSE PDAT_ACT = {VEL 50,ACC 100,APO_DIST 10} BAS(#PTP_DAT) FDAT_ACT = {TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE} BAS (#FRAMES) BAS (#VEL_PTP,50) ;ENDFOLD ;FOLD SET DEFAULT SPEED $VEL.CP=0.2 BAS(#VEL_PTP,50) BAS(#TOOL,0) BAS(#BASE,0) ;ENDFOLD ;FOLD PTP FIRST POSITION $BWDSTART = FALSE PDAT_ACT = {VEL 50,ACC 100,APO_DIST 10} FDAT_ACT = {TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE} BAS(#FRAMES) $ADVANCE = 5 ;ENDFOLD PTP $AXIS_ACT ; skip BCO quickly SET_PAYLOAD=2.0 ; Program generated by RoboDK 3.2.4 for KUKA KR 30 L16 ; Using nominal kinematics. $APO.CPTP = 100.000 $APO.CDIS = 100.000 $BASE = {FRAME: X 1890.000,Y -629.650,Z 955.000,A 89.200,B -0.200,C 0.500} $TOOL = {FRAME: X 0.000,Y 0.000,Z 405.000,A 0.000,B 0.000,C 0.000} ; Show TCP $VEL.CP = 0.10000 LIN {X 15.000,Y 72.846,Z 97.966,A 72.066,B 1.552,C 179.498} LIN {X 5.000,Y 65.000,Z -1.993,A 72.066,B 1.552,C 179.498} $VEL.CP = 0.15000 SPLINE WITH $VEL.CP=0.15 SPL {X 15.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498} SPL {X 15.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802} SPL {X 15.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802} SPL {X 15.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802} SPL {X 15.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781} SPL {X 15.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802} SPL {X 15.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729} SPL {X 15.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729} SPL {X 15.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729} SPL {X 65.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729} SPL {X 65.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729} SPL {X 65.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729} SPL {X 65.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802} SPL {X 65.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802} SPL {X 65.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802} SPL {X 65.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802} SPL {X 65.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498} SPL {X 65.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498} SPL {X 115.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498} SPL {X 115.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498} SPL {X 115.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802} SPL {X 115.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802} SPL {X 115.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802} SPL {X 115.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781} SPL {X 115.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802} SPL {X 115.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729} SPL {X 115.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729} SPL {X 115.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729} SPL {X 165.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729} SPL {X 165.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729} SPL {X 165.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729} SPL {X 165.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802} SPL {X 165.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781} SPL {X 165.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802} SPL {X 165.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802} SPL {X 165.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802} SPL {X 165.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498} SPL {X 165.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498} SPL {X 215.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498} SPL {X 215.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498} SPL {X 215.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802} SPL {X 215.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802} SPL {X 215.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802} SPL {X 215.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781} SPL {X 215.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802} SPL {X 215.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729} SPL {X 215.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729} SPL {X 215.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729} SPL {X 265.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729} SPL {X 265.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729} SPL {X 265.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729} SPL {X 265.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802} SPL {X 265.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781} SPL {X 265.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802} SPL {X 265.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802} SPL {X 265.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802} SPL {X 265.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498} SPL {X 265.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498} SPL {X 315.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498} SPL {X 315.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498} SPL {X 315.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802} SPL {X 315.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802} SPL {X 315.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802} SPL {X 315.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781} SPL {X 315.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802} SPL {X 315.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729} SPL {X 315.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729} SPL {X 315.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729} SPL {X 365.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729} SPL {X 365.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729} SPL {X 365.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729} SPL {X 365.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802} SPL {X 365.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781} SPL {X 365.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802} SPL {X 365.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802} SPL {X 365.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802} SPL {X 365.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498} SPL {X 365.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498} SPL {X 415.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498} SPL {X 415.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498} SPL {X 415.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802} SPL {X 415.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802} SPL {X 415.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802} SPL {X 415.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781} SPL {X 415.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802} SPL {X 415.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729} SPL {X 415.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729} SPL {X 415.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729} SPL {X 465.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729} SPL {X 465.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729} SPL {X 465.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729} SPL {X 465.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802} SPL {X 465.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781} SPL {X 465.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802} SPL {X 465.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802} SPL {X 465.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802} SPL {X 465.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498} SPL {X 465.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498} SPL {X 515.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498} SPL {X 515.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498} SPL {X 515.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802} SPL {X 515.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802} SPL {X 515.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802} SPL {X 515.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781} SPL {X 515.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802} SPL {X 515.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729} SPL {X 515.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729} SPL {X 515.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729} SPL {X 565.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729} SPL {X 565.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729} SPL {X 565.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729} SPL {X 565.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802} SPL {X 565.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781} SPL {X 565.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802} SPL {X 565.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802} SPL {X 565.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802} SPL {X 565.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498} SPL {X 565.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498} SPL {X 615.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498} SPL {X 615.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498} SPL {X 615.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802} SPL {X 615.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802} SPL {X 615.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802} SPL {X 615.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781} SPL {X 615.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802} SPL {X 615.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729} SPL {X 615.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729} SPL {X 615.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729} SPL {X 665.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729} SPL {X 665.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729} SPL {X 665.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729} SPL {X 665.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802} SPL {X 665.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781} SPL {X 665.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802} SPL {X 665.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802} SPL {X 665.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802} SPL {X 665.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498} SPL {X 665.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498} SPL {X 715.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498} SPL {X 715.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498} SPL {X 715.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802} SPL {X 715.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802} SPL {X 715.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802} SPL {X 715.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781} SPL {X 715.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802} SPL {X 715.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729} SPL {X 715.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729} SPL {X 715.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729} SPL {X 765.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729} SPL {X 765.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729} SPL {X 765.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729} SPL {X 765.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802} SPL {X 765.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781} SPL {X 765.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802} SPL {X 765.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802} SPL {X 765.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802} SPL {X 765.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498} SPL {X 765.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498} SPL {X 815.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498} SPL {X 815.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498} SPL {X 815.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802} SPL {X 815.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802} SPL {X 815.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802} SPL {X 815.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781} SPL {X 815.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802} SPL {X 815.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729} SPL {X 815.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729} SPL {X 815.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729} SPL {X 865.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729} SPL {X 865.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729} SPL {X 865.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729} SPL {X 865.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802} SPL {X 865.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781} SPL {X 865.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802} SPL {X 865.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802} SPL {X 865.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802} SPL {X 865.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498} SPL {X 865.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498} SPL {X 915.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498} SPL {X 915.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498} SPL {X 915.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802} SPL {X 915.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802} SPL {X 915.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802} SPL {X 915.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781} SPL {X 915.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802} SPL {X 915.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729} SPL {X 915.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729} SPL {X 915.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729} SPL {X 965.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729} SPL {X 965.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729} SPL {X 965.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729} SPL {X 965.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802} SPL {X 965.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781} SPL {X 965.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802} SPL {X 965.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802} SPL {X 965.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802} SPL {X 965.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498} SPL {X 965.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498} SPL {X 1015.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498} SPL {X 1015.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498} SPL {X 1015.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802} SPL {X 1015.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802} SPL {X 1015.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802} SPL {X 1015.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781} SPL {X 1015.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802} SPL {X 1015.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729} SPL {X 1015.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729} SPL {X 1015.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729} SPL {X 1065.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729} SPL {X 1065.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729} SPL {X 1065.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729} SPL {X 1065.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802} SPL {X 1065.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781} SPL {X 1065.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802} SPL {X 1065.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802} SPL {X 1065.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802} SPL {X 1065.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498} SPL {X 1065.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498} SPL {X 1115.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498} SPL {X 1115.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498} SPL {X 1115.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802} SPL {X 1115.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802} SPL {X 1115.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802} SPL {X 1115.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781} SPL {X 1115.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802} SPL {X 1115.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729} SPL {X 1115.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729} SPL {X 1115.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729} SPL {X 1180.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729} SPL {X 1180.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729} SPL {X 1180.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729} SPL {X 1180.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802} SPL {X 1180.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781} SPL {X 1180.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802} SPL {X 1180.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802} SPL {X 1180.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802} SPL {X 1180.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498} SPL {X 1180.000,Y 65.000,Z -1.993,A 72.066,B 1.552,C 179.498} ENDSPLINE $VEL.CP = 0.10000 LIN {X 1180.000,Y 72.846,Z 97.966,A 72.066,B 1.552,C 179.498} END
-
Sry that was old code, I have corrected it afterwards....
I was trying to input more points between (and missed x coordinate, but i fixed it) so that it goes smoothly, but even then he jerks/jumps, little less but still jerks... -
Hi,
I have KUKA KR30L16 robot that is used in production.
KRC V8.3.17I have been also using RoboDK software which helps me alot to create trajectories much faster.
I have achieved optimal trajectories but now I can't speed it up. Firstly I have been using LIN function, then SPLINE because u can define speed in spline and robot will calculate trajectories and axes movement to achieve that speed and going through all points. When I am using SPLINE motion, I keep getting weird movement, almost like jerk.
Description of problem:
- I have 6 points in one line at each point the angle of TCP changes because that is how surface goes, and whenever it comes from one point to another it „jumps“ while changing TCP angle.
- It looks like it doesnt change TCP angle slowly between 2 points rather when it reaches 2 point then and it looks like TCP jumps/jerk.How to smooth it so that when going from one point to another it goes smooth and no jumps/jerks?
Code
Display MoreDEF SPL ( ) ;FOLD INI BAS (#INITMOV,0 ) ;ENDFOLD (INI) ;FOLD STARTPOS $BWDSTART = FALSE PDAT_ACT = {VEL 50,ACC 100,APO_DIST 10} BAS(#PTP_DAT) FDAT_ACT = {TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE} BAS (#FRAMES) BAS (#VEL_PTP,50) ;ENDFOLD ;FOLD SET DEFAULT SPEED $VEL.CP=0.2 BAS(#VEL_PTP,50) BAS(#TOOL,0) BAS(#BASE,0) ;ENDFOLD ;FOLD PTP FIRST POSITION $BWDSTART = FALSE PDAT_ACT = {VEL 50,ACC 100,APO_DIST 10} FDAT_ACT = {TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE} BAS(#FRAMES) $ADVANCE = 5 ;ENDFOLD PTP $AXIS_ACT ; skip BCO quickly ; Program generated by RoboDK 3.2.4 for KUKA KR 30 L16 ; Using nominal kinematics. $APO.CPTP = 100.000 $APO.CDIS = 100.000 $BASE = {FRAME: X 1890.000,Y -629.650,Z 955.000,A 89.200,B -0.200,C 0.500} $TOOL = {FRAME: X 0.000,Y 0.000,Z 405.000,A 0.000,B 0.000,C 0.000} ; Show TCP $VEL.CP = 0.10000 LIN {X 15.000,Y 72.846,Z 97.966,A 72.066,B 1.552,C 179.498} LIN {X 5.000,Y 65.000,Z -1.993,A 72.066,B 1.552,C 179.498} $VEL.CP = 0.15000 SPLINE WITH $VEL.CP=0.15 SPL {X 15.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498} SPL {X 15.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802} SPL {X 15.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802} SPL {X 15.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802} SPL {X 15.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781} SPL {X 15.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802} SPL {X 15.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729} SPL {X 15.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729} SPL {X 15.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729} SPL {X 65.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729} SPL {X 65.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729} SPL {X 65.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729} SPL {X 65.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802} SPL {X 65.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802} SPL {X 65.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802} SPL {X 65.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802} SPL {X 65.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498} SPL {X 65.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498} SPL {X 115.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498} SPL {X 115.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498} SPL {X 115.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802} SPL {X 115.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802} SPL {X 115.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802} SPL {X 115.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781} SPL {X 115.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802} SPL {X 115.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729} SPL {X 115.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729} SPL {X 115.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729} SPL {X 165.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729} SPL {X 165.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729} SPL {X 165.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729} SPL {X 165.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802} SPL {X 165.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802} SPL {X 165.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781} SPL {X 165.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802} SPL {X 165.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802} SPL {X 165.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498} SPL {X 165.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498} SPL {X 215.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498} SPL {X 215.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498} SPL {X 215.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802} SPL {X 215.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802} SPL {X 215.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802} SPL {X 215.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781} SPL {X 215.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802} SPL {X 215.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729} SPL {X 215.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729} SPL {X 215.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729} SPL {X 265.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729} SPL {X 265.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729} SPL {X 265.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729} SPL {X 265.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802} SPL {X 265.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802} SPL {X 265.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781} SPL {X 265.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802} SPL {X 265.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802} SPL {X 265.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498} SPL {X 265.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498} SPL {X 315.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498} SPL {X 315.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498} SPL {X 315.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802} SPL {X 315.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802} SPL {X 315.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802} SPL {X 315.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781} SPL {X 315.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802} SPL {X 315.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729} SPL {X 315.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729} SPL {X 315.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729} SPL {X 365.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729} SPL {X 365.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729} SPL {X 365.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729} SPL {X 365.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802} SPL {X 365.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802} SPL {X 365.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781} SPL {X 365.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802} SPL {X 365.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802} SPL {X 365.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498} SPL {X 365.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498} SPL {X 415.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498} SPL {X 415.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498} SPL {X 415.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802} SPL {X 415.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802} SPL {X 415.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802} SPL {X 415.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781} SPL {X 415.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802} SPL {X 415.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729} SPL {X 415.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729} SPL {X 415.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729} SPL {X 465.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729} SPL {X 465.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729} SPL {X 465.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729} SPL {X 465.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802} SPL {X 465.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802} SPL {X 465.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781} SPL {X 465.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802} SPL {X 465.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802} SPL {X 465.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498} SPL {X 465.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498} SPL {X 515.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498} SPL {X 515.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498} SPL {X 515.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802} SPL {X 515.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802} SPL {X 515.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802} SPL {X 515.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781} SPL {X 515.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802} SPL {X 515.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729} SPL {X 515.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729} SPL {X 515.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729} SPL {X 565.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729} SPL {X 565.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729} SPL {X 565.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729} SPL {X 565.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802} SPL {X 565.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802} SPL {X 565.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781} SPL {X 565.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802} SPL {X 565.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802} SPL {X 565.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498} SPL {X 565.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498} SPL {X 615.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498} SPL {X 615.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498} SPL {X 615.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802} SPL {X 615.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802} SPL {X 615.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802} SPL {X 615.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781} SPL {X 615.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802} SPL {X 615.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729} SPL {X 615.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729} SPL {X 615.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729} SPL {X 665.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729} SPL {X 665.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729} SPL {X 665.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729} SPL {X 665.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802} SPL {X 665.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802} SPL {X 665.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781} SPL {X 665.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802} SPL {X 665.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802} SPL {X 665.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498} SPL {X 665.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498} SPL {X 715.000,Y 70.000,Z -1.993,A 72.066,B 1.552,C 179.498} SPL {X 715.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498} SPL {X 715.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802} SPL {X 715.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802} SPL {X 715.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802} SPL {X 715.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781} SPL {X 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-5.468,A 70.318,B 0.611,C 179.781} SPL {X 1115.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802} SPL {X 1115.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729} SPL {X 1115.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729} SPL {X 1115.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729} SPL {X 1180.000,Y 400.000,Z -4.547,A 72.495,B -1.000,C -179.729} SPL {X 1180.000,Y 358.750,Z -5.196,A 72.495,B -0.859,C -179.729} SPL {X 1180.000,Y 317.500,Z -5.845,A 72.495,B -0.100,C -179.729} SPL {X 1180.000,Y 276.250,Z -5.716,A 72.243,B 0.618,C 179.802} SPL {X 1180.000,Y 235.000,Z -5.248,A 72.243,B 1.000,C 179.802} SPL {X 1180.000,Y 254.410,Z -5.468,A 70.318,B 0.611,C 179.781} SPL {X 1180.000,Y 193.750,Z -4.781,A 72.243,B 1.100,C 179.802} SPL {X 1180.000,Y 152.500,Z -4.313,A 72.243,B 1.400,C 179.802} SPL {X 1180.000,Y 111.250,Z -3.168,A 72.066,B 1.552,C 179.498} SPL {X 1180.000,Y 65.000,Z -1.993,A 72.066,B 1.552,C 179.498} ENDSPLINE $VEL.CP = 0.10000 LIN {X 1180.000,Y 72.846,Z 97.966,A 72.066,B 1.552,C 179.498} END