Posts by Fubini

  • low memory on the KUKA KRC 2

    Quote from maleza

    KRC 4 can run programs from the stick

    Really. Do you know how KRC4 is capable of doing this (apart von KRC4 being a controller hardware and no software)? Would be completely suprising to me. What KSS?

    I am asking for a friend who has been a long term developer for the real-time system within KUKA R&D and does not know this is possible :winking_face:

  • Syntax Error

    Quote from Student1919

    LIN {X 110.20, Y 221.19, Z 10.00 , A 180.00, B -0.00, C 0.00, E1 -2000} C_DIS WITH $VEL.CP=0.1

    You are not using spline but old motion commands. Old motion commands do not support "WITH" behind it. So either use Spline by adding a "S" before LIN:

    Code
    SLIN {X 110.20, Y 221.19, Z 10.00 , A 180.00, B -0.00, C 0.00, E1 -2000} C_DIS WITH $VEL.CP=0.1

    or stick with old motion and do not use "WITH"

    Code
    $VEL.CP=0.1
LIN {X 110.20, Y 221.19, Z 10.00 , A 180.00, B -0.00, C 0.00, E1 -2000} C_DIS

    Fubini

  • Distance of the robot from the line formed by points P1 and P2

    Quote from Jozef Karas

    I have two points that form a segment, I need to know how far the robot is from this segment.

    I think you need to be a bit more precise.

    Whats the segment here? A straight line? A circle? A free form curve?

    What point on the robot structure? TCP, FLANGE, ROOT, Elbow, ... .

    Define "how far" You mean the perpendicular onto the "segment" whatever segment is.

    The two segment points are with respect to what coordinate system?

  • Advices for the use of Spline Block

    My usual advice here is to use SLIN/SCIRC in spline blocks only if you really have to follow a straight line or a circle.

    • Do not try to approximate something else with SLINs and CIRCs. So SLIN and SCIRC should be the exception and SPL the standard in a spline.
    • When using only SPLs try not to change spacing in between target points too fast. A very short distance followed by a very long distance and then maybe again a very short distance is difficult for any spline as approximation theory teaches us. I usually started with large spacing in between points and added points on the desired path approximately in the middle of two already existing target points if accuracy is not good. You can use +/- direction inside spline block. Repeat until accuracy fits.
    • Be careful with your orientation. Essentially spline is a 6D spline, so your path might look smooth in Cartesian space (X,Y,Z) but your orientation can be shaky in orientation space (A,B,C).
    • If you need constant velocity use splines builtin constant velocity mode. It restricts velocity to the slowest velocity that can be held constant along the spline.

    Fubini

  • HOW TO CHANGE HOME POSITION OF KUKA KRC4

    I do not know how to change home position for a hardware revision (KRC4) but assuming you meant for (V)KSS 8.x you can either do a touch up in your program if it is a inline form or change it by editing XHOME in system $config.dat. Assigning the desired position to XHOME in a program should also work.

    Fubini

  • Kuka Optional Aplication Directory

    Might work as well: Try to minimize the HMI. Go to drive d:/kuka_opt/<option>. Try the uninstall from in there.

    If your current installation is corrupt sometimes installing the not working one again and then uninstall also helps.

    Btw. Is 1.3 even compatible with your KSS version? If currently 1.5 is installed it is probably for a different KSS version. Also process might be different depending on KSS version. You only told us you have KRC4 a hardware revision that can run different KSS versions. Do you have a KOP or traditional setup?

  • resolved

    I am sorry. Considering your previous attempts to setup something, blindly doing stuff with no clue what you are doing I think it is time that you either hire professional help or get some training. Considering all of your threads I see no organized laid out plan on how to do things and what your plan was to begin with. Only one cry for help and random trials getting things done after the next. No real explanations what steps you took so far in detail. Something you maybe can not do because your knowledge level of KUKA seems to be too low.

    The forum in my opinion can not be a substitute for formal training or saving you some money. It can only point in directions or discuss ideas. I would recommend a complete roll back to your last working hardware setup and software configuration and then get some qualified external help.

  • resolved

    The error rdc and hdd data inconsistent is typical when restoring backups from wrong robot type or switching rdc. There are many threads in this forum dealing with this and how to fix it. Just use forum search.

  • spiral motion program for kuka robot

    As work_br suggest I would simply write a small program calculating the x and y coordinates. Mathematics for this parametric curve should not be too hard and probably can be found easily on the internet. I personally would then put the the calculated points into a spline block.


    Fubini

  • resolved

    So you have c32 but need c33 according to the message. Also not sure about this because to long ago but maybe c32 only supported up to 6 axes. But at least it does not seem compatible to your use case. If you open up the menu items on the left hand side how many axes do you see? I think one could see the axis and axis status flags in there. But for this I am no specialist, so probably my help ends here.

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