Sorry but I can't get it. I have my paiont where I grab a piece and this point is "MyPrel_Point" I want to approach that point writing someting that arrive to that point using it's X TOOL coordinates alingment axis by an offset.
In a LIN_REL I'll write LIN_REL {X 30} #TOOL but this point is relative to the actual position. I want to do the same thing but making a motion that is relative to "MyPrel_Point" is it possible?
Hi! Don't know if it is possible with KUKA... I think other Robots could...
Let assume that I have a point "MyTarget", is it possible to make a relative positioning from "MyTarget" using the TOOL coordinate system for example.
Wich is the exact message I don't know in this moment. The point is then reachable symply using another configuration. So the point is reachable. My guess was that using this statement "IF (XPrel_Pz_Nastro.A >= 140) AND (XPrel_Pz_Nastro.A < 160) THEN" I would have solved this problem the problem is that with different touched up point it doesn't work.
OK thanks a lot. I'll try the inverse function.
This is what I did... Shift_X, Shift_Y and Shift_A are coming from a vision system. Unfortunately I didn't thought to use the same calculus using the frame I didn't have experience before. Basically the client touch up by himself the XPrel_Pz_Orig. He has many many pieces different to handle. The not reachable point is always the PTP XOver_Prel_Pz_Nastro.
;fold CALCOLI
XPrel_Pz_Nastro = XPrel_Pz_Nastro_Orig
XPrel_Pz_Nastro.X = Shift_X
XPrel_Pz_Nastro.Y = Shift_Y
XPrel_Pz_Nastro.A = Shift_A
IF (XPrel_Pz_Nastro.A >= 140) AND (XPrel_Pz_Nastro.A < 160) THEN
XPrel_Pz_Nastro.T = 43
ELSE
XPrel_Pz_Nastro.T = 35
ENDIF
XOver_Prel_Pz_Nastro = XPrel_Pz_Nastro
XOver_Prel_Pz_Nastro.Z = XOver_Prel_Pz_Nastro.Z +100
XOut_Prel_Pz_Nastro = XPrel_Pz_Nastro
XOut_Prel_Pz_Nastro.Z = XOut_Prel_Pz_Nastro.Z +150
;endfold
Hi, it happens that I use a previously touched up point and add to this poin some calculations. Most of then are related to it's Z axe rotation. In some cases, due to this change, the robot is no longer able to reach the point with the touched up configuration. Tipically it could reach the point with a changed .S or mor aften .T parameter.
I've partially solved this matter changind the .T parameter along with the angle required but is few cases the robot still stop sayng the point it is not reachable.
Is there any way to handle this error and for example generate a signal to throw away this point and redo a calculation on to another one? Because I whant above all that the robot doesn't stop.
OK I agree that KUKA safe operation is there for something like this. One could use light barriers either. My point is... let's take the case of a cartesian robot (axes robot). Since it's movements are restricted based on it's position we can assign signal that, in a non safe (for humans) eviornment, could tell us that the robot is out of a certain area. I was looking for something like this. Workspace is the closest thing out of the box. It's submission to wich tool is currently selected in a non unique way is small problem
Hi! Here is KSS 8.3.39
In the manual I found that flange is always included... "Cartesian workspace: The defined output is set if the TCP or flange is located inside the workspace".
This make cartesian workspace useless... if I'm not wrong...
I could achieve the same thing reading the current tool and cartesian position and verify if it is inside a difined area...
Thanks guys... my main concern now is that workspace definition is depending on wich tool is selected. This adds something that I don't like. Is it possible to force it to consider always the flange pont instead of tool?
Hi! this is my first job with Moulding Machine and Robot.There are two signals, mould area free and enable mould closure, to interlock the moulding machine. Are worspace definition useful to manage those two signals or at least the area free? I've seen some program that use triggers on kuka program to manage these signals. Before the robot start to enter into the machine they turn OFF area free and when the robot is outside tey turn the signal back ON. The enable colure is usually OFF since the robot is ended the operation and it is outside then the signal is turned on and only when the moulding machine has completed it's closure and is opened again this signal is reset.
It is not more coherent use worspace definition for the signal area free? Since an operator could move the robot in a wrong position and the signal area free could stay TRUE...
Hi, in order to install a very small program on Windows on the KRC4 (it is intended to allow me to work with a Vision System) I need to turn on the .NET 3.5 feature on Control panel -> Program and Features. The problem is that we can not because it is disableb by the system administrator.
Anyone knows how to do it?
Hi! I'm sorry... now it works. For some reason I had to manually stop and deselect and then again select, start the submit interpreter. After this now the conversion works...
Hi! i'm sending trought PROFINET BUS an array of CHAR coming from a PLC... following my steps...
In config dat I've declared:
SIGNAL ProdReName1 $IN[97] TO $IN[104] ;This is the first BYTE that contain a CHAR
SIGNAL ProdReName2 $IN[105] TO $IN[112]
and so on for 60 bytes
DECL GLOBAL CHAR ProdReName[60]; Array of 60 CHAR per campo "Nome Prodotto"
In SPS.SUB there is:
ProdReName[1] = ProdReName1
ProdReName[2] = ProdReName2
ProdReName[3] = ProdReName3
ProdReName[4] = ProdReName4
ProdReName[5] = ProdReName5
ProdReName[6] = ProdReName6
Now when I visualize the variable ProdReName1 it contains correctly the ASCII value expected from PLC but when I visualize ProdReName[1] it contains nothing... did I missed something?
It seems to me that the hibernate shutdown can cause many problem. What is your experence?
In my case it is a potential lead to disconnecting problems and missing HMI load. In many cases I had to connect an external monitor and keyboard to be able to load the HMI interface. Or I had to disconnect the battery to reboot a cold start. KUKA discourage the use of hibernate... if I understand it right. The problem is that for many clients it is very usefull.
Hi! I'm programming a glue path using spline block. At the beginning of the spline I need to "DISPENSING ON". The glue need a little time to exit from the head so ideally I must anticipate the "DISPENSING ON". I want to use TRIGGER WHEN PATH but I do not understand if what I'm using here is right because it seems not to work.
If I understand it right 150 milliseconds pefore the robot arrives on "DepCollaZona1_DX_P0" the output goes on...
What if I use "TRIGGER WHEN PATH = -10 DELAY = 0 DO O81_Dispensing = TRUE". Does It work on the first point of the spline? Moving from Over_DepCollaZona1_DX to DepCollaZona1_DX_P0 on the path between those two points the dispenser is turned on 10 mm before DepCollaZona1_DX_P0 right? The path is a movement parallel to ZX plane in tis case.
SLIN Over_DepCollaZona1_DX Vel=2 m/s CPDAT221 Tool[1]:GLUE Base[2]:POS2
SPLINE Deposito_Colla_Zona1_DX Vel=2 m/s CPDAT176 Tool[1]:GLUE Base[2]:POS2
TRIGGER WHEN PATH = 0 DELAY = -150 DO O81_Dispensing = TRUE
SPL DepCollaZona1_DX_P0 Vel=2 m/s CPDAT216 ColDetect=
SLIN DepCollaZona1_DX_P1 Vel=0.32 m/s CPDAT187 ColDetect=
SLIN DepCollaZona1_DX_P2 Vel=0.32 m/s CPDAT187 ColDetect=
SPL DepCollaZona1_DX_P2a Vel=0.25 m/s CPDAT208 ColDetect=
...
...
ENDSPLINE
IS there a limit to the number of TRIGGER WHEN DISTANCE? I remember 4... but what if instead I use a TRIGGER calling a subprogram with multiple SET/RESET...
Example:
TRIGGER WHEN DISTANCE = 1 DELAY = 0 DO O117_EN_Eject_BWD=TRUE
TRIGGER WHEN DISTANCE = 1 DELAY = 0 DO O116_EN_Eject_FWD=TRUE
TRIGGER WHEN DISTANCE = 1 DELAY = 0 DO O119_TableAreaFree=TRUE
TRIGGER WHEN DISTANCE = 1 DELAY = 0 DO O120_EN_RotTav=TRUE
TRIGGER WHEN DISTANCE = 1 DELAY = 0 DO O106_RobotFI_TEST=TRUE
PTP HOME Vel= 100 % DEFAULT
or:
TRIGGER WHEN DISTANCE = 1 DELAY = 0 DO MyCall() PRIO=-1
PTP HOME Vel= 100 % DEFAULT
...
DEF MyCall()
O117_EN_Eject_BWD=TRUE
O116_EN_Eject_FWD=TRUE
O119_TableAreaFree=TRUE
O120_EN_RotTav=TRUE
O106_RobotFI_TEST=TRUE
END
Hi! Thanks a lot for you detailed explanation... I think this will help many other around here. Thanks again...
Hi! Is anyone that manually insert load data into KUKA starting from SOLIDWORKS centre of mass?
The centre of mass X, Y and Z are clear
A, B and C?
Jx, Jy and Jz?
OK I confirm that deleting those spaces into that line finally solved my problems...
Hi! The image was just to say that I open two different .src from the same controller and viewed in raw format one of them shows "CRLF" and the other no. Anyway this is not important.
I found one of the error at the beginning of .DAT file the line:
DECL MODULEPARAM_T LAST_TP_PARAMS={PARAMS[] "Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.MovementParameterFieldEnabled=True;
It has this caracters "} in colums 3245
panic mode I'm so grateful for your thime sorry if I did something wrong...
Hi! Going to those lines and columns (16:27 and so on) doesn't help a lot. The only thing I've discovered readig the .src file in Notepa++ is the use, at the end of lines, of the code "LF" and not "CRLF".
I've replaced the code with CRLF but nothing is changed.
