# Posts by agonzalez

• ## how to know robot configuration from robot axes

Hi
I dont exactly know what you are looking for but you dont have configuration when your point was saved in joints.
Configuration indicates how the robot access the point. Using Cartesian the few ways to be a the same point under difference pose, under joint config there is only one way

Hi

I hace a cell in robcad,so i can know in each point of the path the value of the robot axes and the cartesian coordinates. I dont have fanuc controller for robcad, so my goal is to make a macro in excel where i put the values of the axes in each point and i get a path in .ls with the correct configuration. The problem is that i dont know how to calculate the U/D T/B

• ## how to know robot configuration from robot axes

Hi all,

I need to know how to get de robot configuration (F/N,U/D,T/B) when i have all the robot axis (j1,j2,j3,j4,j5,j6). I also know cartesian coordinates, user frame and tool frame.

Thanks

• ## 6 axis robot payload working like paletizing robot

Hi all,

I want to know if kuka considerate the posibility of increase the load if you work with the wrist alwais in vertical ,like if it was a paletizing robot.

For example ABB allows you to increase the load +/- 10% like you can watch in the attached picture.

thank you

• ## how to know robot configuration from robot axes

Thanks, i´m going to try this.

Regards

• ## how to know robot configuration from robot axes

sure... you need to have DH parameters for the robot (from robot geometry) and then use series of calculations (one for each joint) using homogeneous transform. Kuka uses Rz(A)*Ry(B)*Rx(C) as transform convention.

Do you know where can i find the formula needed to do it? (convert robot joints (j1,j2,j3,j4,j5,j6) to robot configuration)

I know the robot tcp (x,y,z,rx,ry,rz), locations (x,y,z,rx,ry,rz) and work frame. they are all welding robots

EDIT: i already have robot joints

Or you could call the built-in FORWARD function on your robot controller.

Fubini

Thanks, but we have to configurate 79 robots with several trayectories each, we need to do it offline, do u know another way to do it offline with the data i have written before?.

Thanks

• ## how to know robot configuration from robot axes

Hi all,

I need to know how to get de robot configuration (RST) when i have all the robot axis (j1=-160/j2=52/j3=0/j4=-36/j5=-118.5/j6=-56 for example).

is it possible to make a macro in excel?

thank you so much

• ## RObCAD vs Tecnomatix

We have to simulate the path of the robot and spot welding points.Then if there is any collision then we have to modify it and relaod to the actual robot.
Is this can be done with ROBCAD +OLP+SPOT as our end customer is insisting on ROBCAD and saying no for tecnomatix.

Yes, you can do it with robcad, in fact i´m doing it right now with an entire line.

Maybe subcontract this job is cheaper and faster than buying robcad only for this job...

• ## RObCAD vs Tecnomatix

Hi rupy,

I supose you want to say process simulate.

You can do de simulation and the offline with both two, you only need to buy the controller license too.

You need to know that siemens doesnt perform updates from robcad, "they consider it an obsolet program".

• ## PAYLOAD COMAU NJ220/2.5

Hi all.

I have 3 grippers and i want to do a payload but i dont know how to do it. I need to validate our comau NJ220/2.5.

i have attached an image with one of my gripper atributes in catia.

Thanks

## Files

• atb.JPG_thumb

(23.14 kB, downloaded 4 times, last: )
• ## ROBCAD 7 axis robot

Hi all

its possible to work in robcad with a 7 axis robot? (kuka iiwa in my case)?

i hadn´t got the .co, so i traduced a step and made de kinematics.
i´ve just tried to put one of these axis like a external axes, and made it a toolframe and baseframe. but it doesn´t work, its like a mechanism.

does anyone know how to do it?

thank you

• ## Error RRS 20170

Hi all,

While creating OLP for ABB s4_spot controller, when i´m going to simulate to get the config, there is an error that pops up saying

- "r66 (my robot name)": at "r66" : Simulation for ABB Robotware IRC5

- warning r66: .\sega.c 3435 Prepare of tool orientation failed

- warning: r66 error 20170:

Another error; when i´ll try to use the controller in cells that i had modified in other computer another error message appears:

- Error : r56: RC5 error: ``
- Error: r56: `Cant init RC5 module for robot cellname.r56. Scroll up for details. '(rss id '-1' )
- Error: robot cellname.r56 was not initialized.

All is welcome

Thanks