I found the kl file thanks to a great tool found on the web!!!
It was in C:/unknown..
Problem solved
I found the kl file thanks to a great tool found on the web!!!
It was in C:/unknown..
Problem solved
Hello,
I sadly erased a cell in which a .kl file was....
The cell folder is not in the windows bin, and I don't know if there is another folder in which I could find it..
I have found .pc and .vr files built from the lost .kl file, is it a way to restore the .kl from them?
Great, then I suppose that you had the same problems/questions as me?
First, I don't understand the following explanation from the operator manual : "In softfloat with robot motion, robot may keep still with small velocity taught. Teach the velocity more than about 100 mm/s.".
Is 100 mm/s the minimum speed or the maximum speed?
Then, I observed that the TCP does not go to the taught point when softfloat is enabled.
The tool position seems to depend on the point speed (e.g 100 mm/s) and on the override.
If I want to go to point B (x=100, y=0, z=0) with softfloat activated, the tool may go to (x=60, y=0, z=0) (for example), then how to know which value in x I have to set to make the tool move until x=100 ? (depending on the speed and override).
Hello,
I am making some tests with the softfloat option on a LR Mate 200 iD/4S.
I have some questions about this option (position and speed settings, application, ..)
Is there anyone here who has already experimented with this option?
I had the same issue.
There are small (or, depending on the mechanical parts, big) variations between the theorical TCP on the CAD and the real TCP.
I had to measure the tool on a CMM to be sure to put the correct values in the tool frame.
Hello,
I am looking for a way to check is a given position B: XYZWPR+CONF is reachable under conditions.
The built-in procedure CHECK_EPOS can help but not always.
For example, I want to check if the TCP can move from A to B only in in linear motion or if there will be a stop due to axis limitations.
I am also interested to check if the path from A to B goes through a DCS before sending the TCP to B.
Could you help me please?
Thank you Nation for your answer!
Singularity avoidance option seems to works only for wrist singularity.
I made some test and it's possible to move from a NUT configuration to a FUT with this option.
I don't know if it works for elbow singularity, I'll make a test.
Then the best to do is as you said to avoid the range x = +/-70 , y = +/-70 with the 4S wrist
Indeed all the coordinates X Y Z of a point in my program are in mm (WPR are in °), and 315mm is what is on the pictures. It corresponds to the distance between the "robot 0" and the point. The "robot 0" is at 330mm from the ground.
If you have robot guide you can try to enter the points I gave here and see by yourselves..
Why are you casting doubt on what I said ?
Of course points I gave you are correct and of course the robot does not passes through itself, if it was the case I would have seen that before asking you on this forum..
Hello,
I am using a LR Mate 200iD/4S.
I need help to understand why the following movement is not possible.
With:
P[1] CART FUT 000 X 320 Y 320 Z 315 W 0 P 0 R 135 |
P[1] JNT J1 45 J2 39.463 J3 4.815 J4 0 J5 85.185 J6 90 |
P[2] : CART FUT 000 X -320 Y -320 Z 315 W 0 P 0 R 135 |
P[2] JNT J1 -135 J2 39.463 J3 4.815 J4 0 J5 85.185 J6 -90 |
In robot guide, if I move manually the TCP from P1 to P2 it works but it doesn't by jogging or with the program.
I know that this movement passes through a singularity but I have the option singularity avoidance and theoritically with a rotation around J1 it should be possible.. Do you know if there is an option or a solution to move linearly from P1 to P2 ?
Hello,
I have an application where the robot has to pick parts on a pallet.
In this application the robot has to push on the part with the gripper before closing its jaws and picking it.
The tool goes from point A (ex: 10 0 10 0 0 45) to B (ex: 0 0 0 0 0 45)
I activate softfloat before moving to B.
L P[1:A] 1000mm/sec CNT20
SOFTFLOAT[1]
L P[2:B] 1000mm/sec CNT20
SOFTFLOAT END
Softfloat is defined as cartesian, coordinate tool, soft rat all 0% and soft tol 50% on Z direction only..
My problem is that the tool does not go to the taught position when softfloat is enable..
In fact, it stops somewhere between A and B.
It seems that the distance between point A and point B depends on the % of the "soft tol" parameter.. It also seems to depend on moving speed..
I have tried to set a point B further (-10 0 -10) but I am not sure that it is the best solution..
What am I doing wrong?
Is this application is feasible with the softfloat option?
Is it possible to reach a precise gripping point when softfloat is active?
How to determinate the position of B point to be sure that the tool will move?