Posts by jjf

its kr3 using krc2. i believe there is misunderstanding to the topic because i have perfect communication between robot and c# via PLC. However i am only looking for way that the robot has to wait until the a button is pressed(i define a certain position that the robot has to go) in c#. So how to wait for something to be pressed in KRL language ??

Hi there

how to wait for button to be pressed from another application (for example c#). this event i need it to get the next potions, so waiting till next position is pressed in c# then the robot will move to new position and (if the button hasn't pressed no things will happen). do i need to do i/o mapping for this ?? now i am using halt to wait for the button to be pressed then after i pressed it the program continues it execution

thanks panic mode for your replay and your advise as well

However i define my pick position by send the Cartesian coordinate of the object which located in work service to robot by using webcam and c# and then the robot move to pick the object, so how can i determine or tell the robot to drop the object in one of these places!! could you give an example and provide me with suitable documents

thanks again

Hello
How to define drop position so i have three different drop positions (for circle, rectangle and triangle) !!!, then after i detect circle shape for example i want to click in c# (If it possible or is there an easy way to do it !!) to drop the circle in circle drop position same for the rest of shapes

hi Leon
4- define drop position so i have to define three different drop positions (for circle, rectangle and triangle) HOW!!!, then after i detect circle shape for example i want to click in c# (If it possible or is there an easy way to do it !!) to drop the circle in circle drop position same for the rest of shapes
5- move to drop position

in the main time i am looking for suggestions of how can i define three or four different drop position, so after i detect circle object i want to to take it to drop position of the circle and then the same process for rectangle and triangle, so what is the best way to deal with this situation!!
if there is some example it's will be perfect

So using proper PTP motions everywhere except where a LIN is absolutely required should avoid most of the A4&A6 issues. It's that simple.

i used PTP motion to send the robot to camera position or drop position and this doesn't matter it works fine. However i used LIN motion to move the robot according to the coordinate which send from the picture in c# so what i mean i send x and y coordinate to pick the object. i used LIN motion to avoid S and T problems

thanks for fast respond
Skyefire can you give more details about what you suggest or can you provide me with some example !! because there are some object can be reach with LIN motion but some not , for more information i have several object in works space but the object close to the corner can't be reach because of "common exceed work"

Hello

how can i prevent A6 and A4 from rotating during line motion, because i want to pick object from work space and i want to drop it somewhere else. so i want the robot go straight to pick position without rotating if it is possible !! i am using KR3

this message will be show when i run the program

thanks skyfire again

basically i already have touch three point which are the origin, x, and xy by using the base 3 point and the robot can be move to almost in any point in the camera's reference frame. but the problem is at the beginning i have to position the robot close to that value i mentioned it before otherwise the robot will not move so i would like to send the the coordinator from the camera and it does not matter where is the position of the robot at that time ,
could you pleas give more details or example of how to use LIN motion or frame variable
see the attachment of how i define the motion for camera

thanks skyfire for reply

well i used PTP motion but i believe that the problem is caused by S and T which are not corresponding to the Cartesian(x,y,z) coordinate which sent from the image. so if i can convert Cartesian to six angles degree then i can see the value for each angle and then i can figure out if the coordinate i am sending is out of range!!

the origin point in base is different then vision system but i believe if they are different the robot can still move to the limitation of the work service !! also what you mean by the same orientation because i measure the x and y of the robot's work service and then i divide it to the pixel of the snapshot picture

thanks a lot man

Hi

-details
kuka krc2
webcam(run in c#)
first of all, i have done tool calibration(xyz-4point) and base calibration(3-point) for my new workpiece.
using c# i am capable of sending x and y coordinate from capture image which has the same dimension as the workpiece of the robot.
after i finished base calibration i got these value x=257 y=-221 z=-36.
so my question is if i want to move the robot according to the x and y coordinate from the picture, first i must position(manually) the robot close to value of base calibration (x=257 y=-221 z=-36) !!! otherwise one of 6 axis will be out of limit so as soon as the initial position of the robot close to this position he moves according to the value which sent by the user from the capture image
so i want to move the robot from any position, it doesn't matter if he close to the base value or not . so how can i do that and what things does cause this problem ?? looking to your answer

thanks a lot

Hello

i am using kr3 and krc2 hmi. i have webcamera which run by c# and i want to send x and y coordinate to plc then from plc to kuka.
the problem is when i run the program in krc2, one error appears which say software limit +A1 out of range ?? so what is the good way to send the coordinate and how to resolve this problem ??

Hello
i am using KR3 kuka robot (KSS software), webcam camera (which run in C#) is mounted on flange of the tools to take a picture of the work surface of the robot. My mission is to detect different shape of objects in working operation of the robot. So does Webcam capable of doing that and how can i know the position of the object ??

thanks in a advance

Hello

i am using KR3 KUKA robot controlled by KRC2. i am looking for explanation of what should i do to to finish my mission. first of all i have one box and inside this box there are different objects. i want to move each object to a specific box. i will use a camera to choose which object i will move(which will be connected to C#). So could you pleas tell what i need to do first and what step do i need to program it in KRL in (KRC2) and what steps i need to program it in c#??

thanks for answering

is there chance to change the tool and base calibration from the kuka software to be calibrated from c# for example ?? so for next time when the robot moved from his position and i need to calibrate it again i don't have to do it from the kuka software i want to mange that from c# !!

webcam is runing in c# program
i am trying first to calibrate the tool by 4 point xyz but when i trying to have four different directions, the shown error is too big so i have to repeat the calibration again and again.
i attached pen in the tip of the flange to make it more accurate but unfortunately does't work either. so is there different solutions for that?
thanks

yes KSS Version
webcam camera and its fixed to a certain position
chess board is printing in A3 paper so the workspace of the robot is limit to that area
the webcam is connected to PC to take snapshot from the live video and then the robot can move to a certain postion to suck the object by the vacuum(tool) according to choosing position from the operate by visual studio