Hello All,
IS there a way in KRL to get absolute value for a number? For example, for some variable named NUM, if value of NUM = -1, I want the value to be changed to +1. And if the value for NUM = +1 then it will remain +1?
Posts by iK!_!KA
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Thank you Skyefire! That helps alot.
Would you happen to know how to dump the array content into a text file? May be within a program? I do not know how to code that. -
Hello All,
I am trying to keep track of the robot's position real time. One way to do this was to create an array and store values from $POS_ACT.X in the array for the X-axis positions of the robot.
I am unsure as to how I would read/bring up/output these positions/array contents for me to see on-screen or load up to a file.
Any ideas?
Thank you for your time!
-iK!_!KA -
Thank You SkyeFire!
How do I go about doing that? Or using these tools? Currently, I have programmed the robot such that I apply a certain force against a surface, and this movable surface shifts. I would like the data for the robot's position at various times. I know how much the surface has moved after pushing on it overall (2 ft, 4 ft etc.). I want to record how much this surface has moved as a function of time and get a graph out of excel. I figure I can just have the robot to spit out this data as the surface moves the same rate as the robot's end effector. -
Hello All,
I wanted to know how to track the robot, or the TCP cartesian position in real time, and record it to a file such as excel or notepad. Does the KRL allow for such recording/output?
I am working with KRC2. -
This was a few months ago now, and only a few weeks ago did I figure this out. Essentially the joint was unmastered. I had to use the special brake release that no other KUKA robots come with. It requires opening the joints and supplying a low level voltage to be able to manually move the joints, and then remaster all the axes.
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Hello All,
I am trying to program the robot to proceed and find a certain force (10 N to 100 N range) and once it finds that force, I want it to stay. If i remove that force, I want it to proceed until it finds it again.
Essentially, it is pushing a shopping cart.
I have looked into programming this, and I have gotten so far with it. I am trying to figure out what the PAPAS drivers are?
If anyone has a code that could also help me, I would really appreciate.
Thank yoU!
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Hey Guys, I am getting a weird error: LR 1: J2A2 Joint Dereferenced.
As a consequence, I am unable to do anything with the robot. I can't jog, and I can't put it in Gravity Compensation mode. Any suggestions?
I have a KUKA LBR 4+, I am using it to program certain motions with torque sensing and joint torque control.