Ok, understood, I will give that a go.
Last question - with this method, how are you setting the poses for the robot? I can't use block selection/touchup - I just get the notification of 'invalid Module'
Ok, understood, I will give that a go.
Last question - with this method, how are you setting the poses for the robot? I can't use block selection/touchup - I just get the notification of 'invalid Module'
Thanks Panic Mode,
Yes, the tools and bases are something I trying to understand with manual programming. This looks like its all managed in the .dat file now.
Is setting poses/tools/bases with the ILF and removing the folds in WorkVisual a reasonable workflow? This at least prevents accidental editing with the pendant as you pointed out earlier, while also cleaning up the script.
Thanks for the responses...
Ok, I guess I have always liked the ILF because it seemed to be the safer (or convenient?) way to program. Making the jump to manual programming is a bit daunting..
Environment:
KUKA KR6 r900
KRC4 Compact controller
KRL 8.3
Hi all,
I'm looking at different ways of controlling the robot speed using a variable as shown in the simplified test code below. This works well, and I can now adjust the speed in on place, and have it update automatically in the code that follows. This allows me to run a program at slower speeds while testing, and gradually ramp up the speed to optimise the process.
The current workflow is:
My question is:
Thanks!
Rob.
&ACCESS RVP
&REL 7
&PARAM EDITMASK = *
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
DEF SPEED_TEST( )
REAL SPEED1
REAL SPEED2
;FOLD INI;%{PE}
;FOLD BASISTECH INI
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
BAS (#INITMOV,0 )
;ENDFOLD (BASISTECH INI)
;FOLD USER INI
;Make your modifications here
;ENDFOLD (USER INI)
;ENDFOLD (INI)
SPEED1 = 80
SPEED2 = 0.5
;FOLD PTP HOME Vel=SPEED1 % DEFAULT;%{PE}%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT
$BWDSTART = FALSE
PDAT_ACT=PDEFAULT
FDAT_ACT=FHOME
BAS (#PTP_PARAMS,SPEED1)
$H_POS=XHOME
PTP XHOME
;ENDFOLD
;FOLD PTP P1 Vel=SPEED1 % PDAT1 Tool[1] Base[0];%{PE}%R 8.3.44,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P1, 3:, 5:100, 7:PDAT1
$BWDSTART=FALSE
PDAT_ACT=PPDAT1
FDAT_ACT=FP1
BAS(#PTP_PARAMS,SPEED1)
PTP XP1
;ENDFOLD
;FOLD PTP P2 Vel=SPEED1 % PDAT2 Tool[1] Base[0];%{PE}%R 8.3.44,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P2, 3:, 5:100, 7:PDAT2
$BWDSTART=FALSE
PDAT_ACT=PPDAT2
FDAT_ACT=FP2
BAS(#PTP_PARAMS,SPEED1)
PTP XP2
;ENDFOLD
;FOLD LIN P3 Vel=SPEED2 CPDAT1 Tool[1] Base[0];%{PE}%R 8.3.44,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P3, 3:, 5:2, 7:CPDAT1
$BWDSTART=FALSE
LDAT_ACT=LCPDAT1
FDAT_ACT=FP3
BAS(#CP_PARAMS,SPEED2)
LIN XP3
;ENDFOLD
;FOLD LIN P4 Vel=SPEED2 CPDAT2 Tool[1] Base[0];%{PE}%R 8.3.44,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P4, 3:, 5:2, 7:CPDAT2
$BWDSTART=FALSE
LDAT_ACT=LCPDAT2
FDAT_ACT=FP4
BAS(#CP_PARAMS,SPEED2)
LIN XP4
;ENDFOLD
;FOLD PTP HOME Vel= 100 % DEFAULT;%{PE}%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT
$BWDSTART = FALSE
PDAT_ACT=PDEFAULT
FDAT_ACT=FHOME
BAS (#PTP_PARAMS,100 )
$H_POS=XHOME
PTP XHOME
;ENDFOLD
END
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Hi Leon,
Apologies if that was not clear - but yes you are correct. if the base was on the right side of the robot, I have moved it over to the left. No geometric operator.
By re-calibrating the base, am I not defining it's rotational orientation? I am using 3-point. Defining the origin, X and Y axis.
I am using PTP only, and all poses are defined using the base as a reference.
Kuka KR6 r900
KSS 8.3
I have been doing some experimentation with the base calibrate function on the above robot... Its a handy tool for the process I am working on, so I am trying to get a better understanding of it.
Its easy enough to shift the base 10-20mm and re-calibrate. The basic script I am using will work fine with these minor changes.
However, shifting the base to a new quadrant does not seem possible so far. I have tried adding intermediate points, but every time I will get a software limit error, and the robot will not move.
Does anyone know if the base calibration designed for these large shifts? or only minor adjustments?
Thanks!
rob.
Thanks for the response SkyeFire.
Thinking about this a bit more, I don't need much resolution, so I could probably use some kind of incremental loop that writes to ANOUT with a 1 sec delay built in.
Hi,
I am looking for advice on how to ramp an analog output over a set amount of time. ie 1v - 5v over 10s
The dynamic analog command looks like a possibility? Can this be linked with a timer?
Thanks,
Rob.
KSS 8.3
KR6 Agilus
KRC4 Compact
Nevermind... Just after posting this I worked it out. Both the enable and run switches are dead man. I was not holding the run switch down...
I am trying to setup and run a simple program.
For the program I have jogged the robot to a random position, and I am trying to run a program that will move it to the default ‘HOME’ position. Robot can easily be jogged on all axis
Environment:
• Kuka KR3 Agilus with KRC4 controller.
• KSS 8.3 user manual
Process:
• Power on controller. I get power warnings 26014 and 26150, but they can be cleared.
• Switch to ‘expert’ user. Robot is already in T1 mode
• I have already run the start-up wizard, and set up and calibrated a test tool, and a test base. All the items on the setup wizard page have green ticks next to them
• Enable start-up mode. I can hear a relay click on. ‘IBN’ is now displayed above T1 on the pendant
• Return home, and in the R1 directory, create a new 'test' module file from the template. The creates both the .dat file and .src file
• Select the test .src file. ‘R’ is now yellow, and the active program is displayed below the robot name. Line 4 of this template file is “ PTP HOME Vel= 100 % DEFAULT” From what I have read so far “HOME” is a pre-programed position similar to the shipping state.
• Select test tool and test base from the previous setup (not sure this is essential)
• Hold down enable switch on pendant. Drives are enabled (1) and safety switches are green.
• Press start. You can hear the drives switch on, and Program ‘R’ momentarily turns green. The Blue arrow stops on line 4 and program ‘R’ turns red. The robot does not move
Any idea what I am doing wrong?
Ah, that explains it.. Thanks!
I am setting up an KR3 Agilus, with a KR C4 compact controller. I have been reading through the KSS 8.3 manual, and I can see no reference to the "Teach by demonstration" mode as seen in the link below. (@ 1:48)
No luck with Google either...
Do I need additional software to use this method?