Posts by dexterv

CPTP 1/CDIS 100, CPTP 1/CDIS 50

Quote from panic mode

PTP type motions support CDIS and CPTP

CP type motions support CDIS,CVEL,CORI

motion instructions support up to two such parameters and will respond to whichever happens to be the first one encountered along the path.

The supported types are well documented, no questions there, can you elaborate a bit more on "and will respond to whichever happens to be the first one encountered along the path."

What I observed is that around the approximated point during a PTP>LIN move the approximation uses two $APO parameters for both CPTP and CDIS I have attached some ss from KUKA.Sim: it goes CPTP 100/CDIS 100

So what you are saying is on the PTP side you use CPTP and on the LIN you use the CDIS/CVEL/CORI (but if you haven't specified it it will use CDIS it seems).This seems to support what I have observed but I cannot find where it says so in the manuals.

I am sorry to revive an old thread, but it seems Fubini might be able to explain to me what is happening and it is relative to this discussion. While blending PTP-CP motion I observed a strange for me behavior around the approximated POS, I have been using the C_PTP parameter and the approximation behavior did not seem to be affected by $APO.CPTP. What I didn't realize was that the blending with the LIN motion to the next point was affected by the C_DIS that was added internally and it was the culprit for the motion. So after playing with OL and Sim Pro I came to the upper mentioned conclusion.

The way I understand it it should have the smaller one used for approximation only, but having a very small CPTP and CDIS larger resulted in the approximation towards the end and the LIN motion to follow the larger CDIS parameter in this case. Can some one explain what is going on? I have seen it on a physical KR210 R2700 robot running 8.3.38 and a OL one running 8.5.7.

For my current understanding it uses different parameter for the beginning and for the end of the approximation - CPTP and CDIS respectively. Is it so and if so is there a mistake in the SI manual or I am reading it wrong - it does say so that the smaller radius is the beginning limit but it doesn't state that the other might be used for the end.

panic mode How are you going to use the resampling practically, is it in it's own submit interpreter? Would there be racing conditions - isn't it possible to read signals from two periods - if you are combining IN[1] and IN [196] for example.

Well for one you have two Ethernet networks on the host, try disabling one to see if it makes a difference.

Funnily, yes, I now have the same problem. The VRC starts but not the actual KRC and Sim Pro is stuck in "Connecting" I believe it might be a firewall issue, but am waiting on the ITs for access, will keep you posted after I investigate.

Edit: I can confirm it is a firewall issue, working after adding inbound rules for exes in the Sim PRO folder and for VMware, we did not have time to confirm which ones were needed exactly.

It is just a PC hardware wise, so first of all check the power supply if it is supplying power. Can someone pitch in and say if you can just connect an external power supply and turn it on - any problems with that?

Battery replacements should not do any harm to a motherboard, provided the motherboard is actually not failing through some fault and you didn't kill it through some freak static discharge,

Well it is impossible - without rotation of the tool (A, B, C) the tool Z is pointing downwards, whereas your base Z is pointing upwards by making the robot got to 0, 0, 0, 0, 0, 0 in BASE[16] you are forcing A5 beyond it's limits hence the error.

If I understand what you are trying to do is make the position variable with base, just having a POS with XYZ 0s and the correct angles will always be at the beginning of which ever base you activate.

I can confirm I am using NAT mode for the network adapter. Are you saying you cannot ping anything from within the VM? You should definitely be able to, not talking Kuka related at all, just general networking. The NAT should use VMnet8 which is 192.168.21.x by default and should have access to your local net.

Are you by any chance using the latest VMWare player/workstation? If so this is your problem. Try with 15.1.0 or lower.

Can someone tell which axis/axes are soft in the video, I would have guessed he is measuring the torque on A5, but in one of the attempts the robot is not hitting the bolt on the flange but the wrist end which I would think would not work for A5.

Yes, this is what mastering is for, so that the controller knows where the robot is in space.

Well to lose all mastering you probably have a dead battery backup in the KRC and the shutdown produced some corruption, Although it doesn't have such an error. You definitely need to master all axes, you should be able to very carefully move the robot in T1 and start up mode to move it to the mastering positions, keep in mind that there are no safety limits on robot movement so proceed with caution.

Difficult to tell with that much information, is it a new robot? Are the speed overrides above zero and the mode in T1? Can you move it in Start-up mode?

Well, have a look at their turntable model in the library, since you have your 3D model you will have to adapt it to have the same properties and behaviors like theirs - in the modeling tab.

I know the feeling, if you forget where to find use the help in the program and type fast measurement - this is one of the few times it is actually helpful.

In WoV select the controller from the left and click Editors from the top, select additional options and there you have the fast measurement interfaces, activate them and deploy the project.

You should be able to, but I have't tried it myself. I am certain there are a few users of the forum from the development team that will surely know and might pitch in.

RoboDK is cheaper at $3k and if you get OL for $2k you will have the controller and visualization for $5k. BTW there is a 90 day free trial for KUKA.Sim without OL.