Posts by ashwinmudigonda

I have to swap out a tool at a client's site. The MOVESETTINGS commands in the code refer to tool frame 1. When I went to Startup->Calibrate->Tool->Fixed Tool and looked at tool 1, and the numbers are a bit puzzling. I see 1287, 653, 115mm for the x,y,z values. Normally (at least with Motoman robots) the tool calibration is with respect to the flange, and the numbers represent the offset from it. The tool dimension is 12" (L) x 12" (W) x 8.25" (H). I am not able to correlate the numbers.

I was looking at the wrong tool!

How do I write a PTP or a LIN move with a sensor to tell me when to stop moving? What is the syntax?

How do I modify an existing PTP or LIN move to be an approximate move? I see a line that looks like this:
PTP xIntPoint[1] C_PTP

Can I make it continuous by saying:
PTP xIntPoint[1] CONT C_PTP
?

Deselecting the program was the key. I had accidentally done that and gotten it to work, but now I know why. That solved both my issues. Thanks.

I am more conversant with ABB and Motoman robots. I have a Kuka job to execute. I logged in as Expert mode (I typed 'kuka' for password) and am in T1 mode. I have 2 specific queries:

1) I need to add a line of command to a .src file. I figured the best way to do that would be to copy over the file onto a USB drive, modify it, and then upload it. I was able to copy and modify the file on my laptop. But when I copy the file and try to paste it in KRC:\R1\Program, I see an error message on the top saying

C3FIL 86
Invalid command for linked modules: command: Overwrite, module: <name of the .src file>

When I hit OK, it says

File <filename> cannot be changed.

What's the best way to execute this? Will the pendant compile the code if I upload the file?

2) I am switching out the existing tool to a new tool. I read the manual and said that I had to go to Start-up->Calibrate->Tool but Calibrate and other settings are grayed out. Any idea how to access these settings?

Thanks for your help.