hi there,
i hope (but i'm pretty sure) you can give me some help with this topic. First of all, here is a summerized (not complete) code i have
CONTINUE
PO_Tip1UP=false
CONTINUE
PO_Tip1DW=false
$VEL.CP=0.5
$apo.cdis=50
$acc.cp=5
$vel.ori1=200
$vel.ori2=200
$acc.ori1=200
$acc.ori2=200
$tool=tool_data[1]
$base=base_data[3]
XRELTOOL=POffsetFrame(XP10,0,-50,-20,0,0,0)
LIN XRELTOOL C_DIS
CONTINUE
PO_StartPrimer=TRUE
;
LIN XP10 C_DIS
LIN XP20 C_DIS
;
IF FALSE THEN
LIN P10 CONT VEL=2 M/S CPDAT10 TOOL[1]:TIP1 BASE[3]:BVAC
LIN P20 CONT VEL=2 M/S CPDAT10 TOOL[1]:TIP1 BASE[3]:BVAC
END
please consider this path as a circular path with more or less 30 points
those points into the IF FALSE are "to be teached". the program is inside a routine and it's working fine
my questions are:
1_i need to make the same path with a different tool (TOOL[2]:TIP2) and i would like to know if changing the row $tool=tool_data[1] into $tool=tool_data[2] will actually solve the problem to all the points above even if they are going to be teached into tool1. If yes, i would understand if the tool is going to be orientated with coordinates in the same way of tool 1 (i.e. x paralel to the surface and Y perpendicular at 90 deg and not the opposite or a different one...)
2_since the path, as i said before, is actually circular around a certain surface, it happens that i can do the path with tool1 without any A6 limits BUT if i'm trying to do it with tool 2 i should do it at the reversal (which is fine) since i have some cable chain problems AND, furthermore, A6 is going to go to negative limit. Kuka assistance told me to make the axis endless with i can do that, but i'm pretty sure that the robot it will go to the near position "choking itself" with the chain... i though to make A6 endless and make some restriction on the limit again when i need it to be surely in a position without choking
what do you think ?
thanks a lot for your time