SkyeFire, what manual is the INV_POS function in? I'd like to look into it (and any related functions) a bit more but it's not in the System Integrator's manual and I'm not sure where else it would be.
Posts by arikrundquist
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Look up $VEL_AXIS_ACT and/or $SINGUL_DIST in the System Variables manual, then use one or both to add logic to decrease the speed of the appropriate axis.
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Are you asking how to watch a program run in the submit interpreter?
Try $INTERPRETER = 0
I've never done it but I just reread the System Variables manual and it looks like that will do what you want. To change back to the robot interpreter, just set $INTERPRETER to 1. -
Actually, I think you might be able to get away with doing PTP BASE_DATA[2]:P2, simply because bases are defined as transformations of $Nullframe, but that wouldn't work if you taught the point in base 2 and then wanted to go there relative to base 3... over all, the better approach is the one I described but if all your points are taught in the nullframe, you could use the geometric operator and probably get the results you want.
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I think you want $TOOL = TOOL_DATA[2] and $BASE = BASE_DATA[2]
$TOOL and $BASE set the current tool and base, and TOOL_DATA and BASE_DATA are arrays of, well, tool and base data. Just remember that arrays in KRL start at index 1.
Try:
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PTP P1
$TOOL = $TOOL_DATA[2]
PTP P1
HALT ; wait for user action
PTP P2
$BASE = BASE_DATA[2]
$PTP P2
HALT ; wait for user action
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I suppose it is less an issue than a proprietary reason my company would like to restart the robot... thanks for the advice though hermann.
panic mode, we have looked into both of those but for some reason when we shut down the computer (either by cutting power to it or doing a Windows reboot) it defaults to Hibernate instead of a Cold Start. I'm not sure why but the robot will not let us change that default setting; it always says that it fails to change the default settings. We've changed that setting in the config files but still no luck... I'd rather not change restistry keys but short of that nothing has worked so far. -
Is there a way to cold start a robot from KRL? Under certain conditions which I can detect programatically I need to restart the robot in order to fix its specific issue and so far I've had to do it manually every time. It would be phenominal if I could just reboot the robot automatically.
Thanks! -
You might be able to use $POS_ACT or $AXIS_ACT to get the current position of the robot; I'm not sure if you can use it while the robot moves but maybe if you use it in the Submit interpreter while the Robot interpreter is calling some kind of motion command (or vice versa)... let me know what happens. That'd be a cool use of it.
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I'm not sure what type of robot you have, but for mine you go to the robot menu (top left icon on screen or button on the bottom right of the controller) > Shutdown > check the force cold start and reload files options > Reboot control PC.