# Posts by Dzonzi

• ## COMAU Robots Programming

I need just need to know the basic knowledge like teach pendant, language etc,

• ## KUKA ROBOT - What is the meanings of collision detection value

It is just a value.

• ## Is there any way to slow down the end of the SPTP movement?

Hello guys,

I want to slow down the last movement to prevent the gripper from shaking when stopping with a heavy load. Is there something like the inverse of acceleration?

That movement is quite long so reducing the speed is impossible. I would also avoid adding a new point before the last one and slow down from that point to the last point.

Thanks

• ## PTP and SPTP difference

I use SPTP 100% CONT 100 or 500 mm, no advance run stop (check it in T1 and debugging) and still stoping between some movements xD

The only advantage that I see in SPTP are faster moves in T1.

• ## ABB or Fanuc for painting

Take fanucs. Wooden robots. You can take some parts from the rubbish dump, replace them and it will work.

• ## Making decisions based on current robot position

It makes no sense. Why you dont use exact position e.g if pos_10 then .....

• ## Asynchronous Motion Using TRIGGER WHEN

put a lot of CONTINUE commands first

• ## Approximating/branching Spline motions

Have you ever programmed something in automotive standard?

It is impossible to use something that is not in that standard like spline blocks and stop conds.

• ## Approximating/branching Spline motions

If the stopping function returns TRUE we should stop in SLIN 1. In that function, we read input and compare it with the argument of that function and if the result is true then stop.

• ## Approximating/branching Spline motions

It's too difficult to stop at the position for Kuka with SPTP. Now I know why we still use PTP on many other projects. Basically, if the approximation is not possible we should not approximate.

• ## Approximating/branching Spline motions

I would like to stap just before dropping position. We have a function that checks input from HMI, it is like a breakpoint in debugging. We always use old PTP but for the current project, we use SPTP which makes only issues. Customer choice.

• ## Approximating/branching Spline motions

Differences in Approximation execution compared to old motion are:

• If Approximation is not possible the robot stops at approximation start (in old motion it was at the teached in position).

Is there any way to stop at the taught position?

• ## A new image&files manage tool for fanuc robot

I hope you are not a spy from China

lucky guy

• ## Palletizing program

I do not, but you?

• ## Palletizing program

So how do you know what axis range you need for your programs before you teach them?

I used to teach all programs first, then active function that monitors axis positions in real-time, drive every program on the robot, and then add e.g 5 degrees tolerance.

That tolerance is for adjusting a little program's positions without a need to change limits.

• ## Palletizing program

Is it possible to adapt soft limits before teaching all programs?

• ## Offline programming SRS

It costs like 1800-2000 euros.

• ## Offline programming SRS

I've searched for a cracked licence or even an SRS 2016 licence on ebay but there is nothing interesting.

XD

The Demo version of SRS is very limited. With development license you can do whatever you want, compile programs, edit, upload to the robot, run the simulation 3D etc.

• ## More novice questions

You can use wait instruction