Posts by Fubini
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Documentation can be downloaded from Kuka portal. Details can be found in the kuka robot forum Read First.
Fubini
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Then you should ask for a quote from KUKA. The package is not free software.
Be careful. Supporting software piracy will get you banned from this forum.
Fubini
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And in which line does the compiler say the error is? The system gives you this info.
Fubini
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No. Submit is handled by a different interpreter totally independent. By design they should be and need to be like this. Otherwise you would be in hells kitchen.
Fubini
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$TTS is a coordinate system moving along the path where one direction is defined by the path tangent and another by a configurable direction x,y or z (unfortunately I forget the $ variable name something with direction in its name). The third direction is chosen perpendicular to these two. Relative to this coordinate system path corrections or weaving figures can be applied.
To be able to help we need more info. Seeing the program at least.
Fubini
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Do as suggested on the screen. The module msg.src has a syntax error. Go to this module and see what the syntax error is.
Fubini
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RE: KUKA KRC 4 Movement velocity of PTP movement T1 vs. T2/Auto
Lookup up posts in this forum that contain keyword $RED_T1 and you will find many different posts dealing with this. For example this one:
KUKA Speed issue - KUKA Robot Forum - Robotforum - Support and discussion community for industrial robots and cobots (robot-forum.com)
FubiniFubiniDecember 6, 2023 at 10:12 AM Fubini
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How do you mean package?
Absolute accuracy is a option you can order from KUKA for most robot types that get manufactured. KUKA then runs at the end of its production process a mathematical parameter identification method to identify improved robot model parameters for this individual robot with high precision. In this process a file is created that lists the deviances of robot paramters from their nominal values and also adds some additional modeling components like e.g. for elasticity of the robot structure. This file then is valid for a single robot serial number. The deviation of the real robot from its nominal counterpart gets a lot smaller by this. The identification method is the same for HA and non HA robots ordered with absolute accuracy option. By default any ordered HA model will get the improved model.
KPS,KSD,…
are the same. Hardware differences are mainly high quality gates regarding accuracy compared to non HA robots.
So basically regarding accuracy it gets better in this direction
Standard robot -> Standard Robot with absolute accuracy -> HA robot (always equipped with absolute accuracy)
Fubini
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So you have 2 absolute positions p1 and p2. Assuming they have same base and tool then inv_pos(p1):p2 is the shift/distance in the tool system. If you want to it with repect to base then p1:inv_pos(p2) is the shift in the base system.
This can also be applied if base and tool are different. If you use forum search you can also find how to use the geometric operator : in combination with inv_pos to change positions to different bases or tools.
If you have already absolute positions I do not understand what does not allow you to use them directly.
Fubini
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Basically calibration using absolute accuracy package. All HA machines have the package. Individually tweaked machine data leading to higher precision in kinematics calculation. So one could say software.
On the other hand specially selected hardware components that have small manufacturing errors. Not really from a different type but those of the same series that are exceptionally good. So also hardware. You can think of it that way: If you have the same robot type twice and Kuka quality control at the end of the production line one of those two fulfills the higher HA criteria this one gets HA branded.
Fubini
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Measure in a base on the external axis and let the robot move relative to this base.
Fubini
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Many possible solutions. One would be here
PostRE: KUKA ROBOT - HOW TO MAKE ROBOT NOT MOVE IN MANUAL MODE
I personally like to use ROB_STOP and ROB_STOP_RELEASE for these purposes.
I tend to use this if eg. you monitor if held workpiece has been dropped, some extreme condition occurred, etc.
examples on usage can be found in KSS 8.7 SI manual, I know it exists a at least back to KSS 8.3 but I am uncertain exactly when this feature was introduced or if it has always been available.HesApril 13, 2023 at 11:46 PM as can be found out easily by means of using the forum search.
Fubini -
$ACT_POS_MES
This variable does not exist afaik. Should it not be $POS_ACT_MES?
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Because the area needs to be convex: A line connecting two arbitrary points inside the area needs to be completly inside the area. This is mentioned in documentation.
Your first area is not convex, your second is.
Fubini
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If you want to see the currently active base you need to look at their main run versions $base_c/$tool_c. As Herman said $base/$tool are advance run variables.
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Could be $OV_JOG but I am not totally sure about this.
Fubini