Thank you so much @skyfire for such detailed explanation, I shall try modifying my code with this explanation.
Have a great weekend
Thank you so much @skyfire for such detailed explanation, I shall try modifying my code with this explanation.
Have a great weekend
I see the point, tool is at a constant orientation, no change in a,b,c values all through the tool movement.
XID7 is {X 65.65,Y 29.02,Z -33.47,A 1.48,B 2.83,C 0.50}, which gives the orientation of tool.
Thank you @skyfire, but how could this shift take place w.r to base in that case , where can I change in my code.
I understand the mistake but how can this unwanted shift not happen.
help me and thanks in advance
Please check the code below for reference.
While shifting it first drifts away from point before approaching the point.
Thank you for the help @ skyfire , i messaged you the code!!
Mainly it shows error at these lines:
Shift = $NULLFRAME
Shift.X = ((ITR_X-1) * 5) ; increment in X
Shift.Y = ((ITR_Y-1) * 5) ; increment in Y
RESULT = Xid7 : Shift ;this is where the problem occurs
LIN RESULT
Hi all,
I am facing a problem while trying to execute loop in picking process using an geometric operator ':' ,
TCP approaches the specific start point(as was taught using 'PTP' in the program using smart pad) and then shifts linearly up (say some 5 or 10mm) away from point and then it again reaches the specified point.
Does this shift usually occur while using geometric operator.
Please help me.
P.S : Iam using KUKA KR6 R900 SIXX + standard KRC4 compact controller + KSS 8.3
I have checked the forum posts and given manuals.But, still confused with solving this problem.
Yes it is shunk EGP50 and your reply was really helpful, thank you panic mode.
Hi Kara and Panic mode,
Thank you for your precious time and replies.
I have coded for wrong digital pins(21 and 22). I have corrected my mistake and tried,now it is working fine
But still is there some place or system variable where I can change to control the 'gripper force' while opening and closing??
Now it opens fully or closes fully.
Hi kara,Gripper is to be used in pick and place application(in my case).I just wanted to check if some config file changes or IO related mapping needs to be done apart from this code.
Hope this clarifies your question.
Hi kara,
There is no sensor involved, Iam defining position manually.
Thank you for reply , to be specific.I have written program to open/close gripper as below,
In .src file ,
DEF Hold()
WAIT SEC 0.5
$OUT[GripperOpen] = FALSE ;GripperOpen=21
$OUT[GripperClose] = TRUE ;GripperClose=22
WAIT SEC 0.5
END
DEF Release()
WAIT SEC 0.5
$OUT[GripperOpen] = FALSE ;GripperOpen=21
$OUT[GripperClose] = TRUE ;GripperClose=22
WAIT SEC 0.5
END
These are my subprograms to open and close gripper , these digital pins are specified and signal declarations are made in .dat file
Am I missing some changes to e made in config file or IO configurations to make my gripper work as it should be
Hi
I am quite new to kuka, had basic training of KRL programming and assistance from manuals.I have worked in software programming several years and so good at coding though.I am using orange edit.
I am using schunk 50 electric gripper for Agilus KR6 R900 sixx KRC4 (pick and place) for educational purpose.The gripper only have 4 pins: +24V, GND, open and close
But I dont have any grippertech installed and cannot afford it.
Please guide me how to do this manually. Suggest the config file/ paths that needs to be modified ,it could save me:)
Thank you
The KRsixx controllers have pre-installed pneumatic valves, and available inputs near the wrist. The 3 pneumatic valves are $OUT9 to $OUT15. Available inputs are $IN9 to $IN14.
What abnout electric grippers do they also have pre installed inputs