# Posts by Fubini

• ## Motion interpolation beetwen procedures

You should be able to approximate this. Only if between the last motion command in your first program and the first motion command in your second subprogram is an advance run stopping command no approximation is done.

Hint: The INI-Fold contains advance run stopping instructions.

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Because right now, when the robot cant reached the approximation possition it stops "near" the position, so that cause i dont reach a one of home positions.

This is normal behaviour for spline since spline stops at approximation start in case approximation is not possible. Read documentation on spline please:

Approximating/branching Spline motions - KUKA Robot Forum - Robotforum - Support and discussion community for industrial robots and cobots (robot-forum.com)

Approximate help needed - KUKA Robot Forum - Robotforum - Support and discussion community for industrial robots and cobots (robot-forum.com)

Punkt genau anfahren trotz Überschleifkriterium - KUKA Roboter - Roboterforum.de - die Industrieroboter und Cobot Community

Fubini

• ## Manual speed difference

Yes by switching these types you get fundamentally different solutions on how KRC treats speed reductions to be safe in T1. I have explained this for a switch from LIN to PTP in the past in the german partner forum here:

https://www.roboterforum.de/ro…p/?postID=82202#post82202

The quick deepl translation is as follows:

This is due to reductions like \$red_t1. This is added to the override in T1. If you have programmed slow speeds in a PTP movement, it will be even slower. By the way, this is no longer the case with Spline. There is always limited to 250 mm/s no matter if LIN or PTP, because there are no more factors like \$red_t1.

Such general factors usually have historical reasons. In the past, PTP could not be limited to Cartesian 250 mm/s as a pure movement in the axis space. In the meantime this is possible via \$speed_limit_teach_mode. But for compatibility you won't get rid of the old method as default. But you can change it somewhere (\$custom.dat?). I don't remember the name of the variable, \$Red_t1_ov or something like that.

• ## Manual speed difference

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But (and this is just a guess) PTP movements should not be affected by CP_VEL_TYPE, should they?

Yes of course you are right.

• ## Manual speed difference

Is this behaviour close to singularities? Do those robots have absolute accuracy? What is set for \$CP_VEL_TYPE on both machines?

Any messages in logbook?

Also Check Main Run variables \$vel_axis_c[], \$acc_axis_c[] during execution. Also checking load data might be useful if it's a ptp. Maybe swap to sptp instead of ptp just to check could be useful as well.

Just ideas on what might be different.

Fubini

• ## Manual speed difference

None that I am aware of. I Would try to get a KRCDiag or and then make a diff. Especially files in folder R1/mada and Steu/mada have data that define how fast you can run in T1. Also safety configurations brings additional limits.

BTW are we talking from differences in jogging or in running a program in T1 mode. Both things often are called manual mode by customers but are different things on how they are handled and which machine data influences t1 velocities.

Fubini

• ## Kuka KRC4 Automatic Archive Backup

Probably there is no KRL function. KRL primarily is interfacing to the real-time controller on VxWorks. Archive is handled by the UI on Windows side. Also I do not remember ever seeing a tool for automatically shedules archives.

Fubini

• ## Overwrite Problem on Backups

Sorry still not there. Maybe READ FIRST... offers additional hints on vital needed Information.

Also forum search with keyword Archive offered a lot of discussion on how to individualize archive names.

Fubini

• ## Overwrite Problem on Backups

What system are we talking?

What is backup in your question? Kuka knows archives, krcdiags, work visual projects and images. All could be called some kind of backup. From what tooling are we talking? Could be e.g. RecoveryStick, Archive manager Work visual or Backup manager.

...

Just imagine I ask you: How do I get my grocery shopping into my car?

Would you be able to answer this question?

You do not know what car I own. Maybe a station waggon or not? Whether children are on the backseat? How big my trunk is? ...

Details matter!!! Very generic general questions never have specific answers.

Fubini

• ## Overwrite Problem on Backups

Of course if you share first ...

Sure.

• ## KUKA VIRUTAL KCP.

And we need useful information READ FIRST....

Not totally sure but I do not think this software is for free. Asking for pirated copies can get you banned here.

• ## KUKA ROBOT WORKVISUAL NEED OR NO

I do not know. WorkVisual yes or no depends on the controller type, e.g. KRC4 vs. KRC2. You do not mention what you have.

• ## kinematic parameter stored inside robot, and acceleration and torque signal channel before and after gear reduction

The error is where exactly? Position values correct and permuted? Then some orientation is missing.

Is the error some constant in one coordinate? If yes search \$machine.dat for this value. You probably have forgotten a frame. A hot candidate usually is \$TFLWP which brings an additional shift and orientation change from the intersection point of A4,A5,A6 to the flange plate.

What are your \$TOOL and \$BASE? To only get the robot these should be \$NULLFRAME both?

...

As MOM said an example specifying axis values and corresponding cartesian values of both trafo could be useful. But do not forget to specify all other influencing values like Tool and Base as well.

Fubini

• ## how to skip KRL and send command to motors directly

KUKA also has a not so well known interface called External Motion Interface (EMI). EMI basically allows recording cartesian or axis specific trajectories in a table style form which you could adapt offline to fit different trajectories. EMI usually is not a standalone product but is used under the hood of a few other products (re.g. ready2animate, WV ASCII) to be able to record, modify and replay user modified trajectories. I know of at least one case where KUKA gave EMI to a university that tried to test their own novel trajectory planning algorithms on a standard KUKA by generating files for the EMI module.

Also EMI has a few advantages over other solutions. For example it keeps the KUKA safety net intact. You would still get torque monitoring messages if you try to destroy your robot by to offensive commanding. So basically it is not as easy to destroy your robot compared to RSI.

Still to get EMI (even though the EMI module is part of every robot installation (mdrEMILY.o) but not documented) you would still need to talk to KUKA.

How to run ready2_animate emily file? - KUKA Robot Forum - Robotforum - Support and discussion community for industrial robots and cobots (robot-forum.com)

Fubini

• ## kinematic parameter stored inside robot, and acceleration and torque signal channel before and after gear reduction

Kinematics data including link lengths is stored in:

\$ROBROOT, \$TIRORO, \$TX3P3, \$TFLWP, \$DH_4, \$DH_5, \$LENGTH_A and \$LENGTH_B

inside R1/\$machine.dat.

Your other question is not as easy to answer. You would have to consider a few additional informations on how the KRC thinks inside. There is no direct simple way of differentiating between before and after gears. You would have e.g. also consider with or without elasticity compensation, with or without coupling, ... . Basically you need knowledge how KRC handles data inside. These details usually are not publically available and you would have to contact KUKA on details. Yes it can be done if you know how to, but I would strongly recommend not to do so. It will take a lot of effort. Why not using the KUKA solution LDD (LoadDataDetermination) if you want to identify tool data inertia. On the other hand if you wand to identify the robots axis inertias, you can find them inside R1/\$robcor.dat but still you would need to know how to interpret these numbers (e.g. units) and how they are applied in KUKAs internal dynamic model.

Fubini

• ## How to run ready2_animate emily file?

Found a little example!

• EMILIY.zip

• ## How to run ready2_animate emily file?

Emiliy is a driver using the kuka external motion interface that is not run directly by selecting but has to be used using md_cmd from a normal kuka program file. You can use forum search with keywords md_cmd or external motion interface to get further info. But since the exact commands depend on the specific motion driver your package documentation should have a section about it.

Fubini

• ## Help Us: User Manual and Documentation of KUKA KR 60 L16 - 2 KS

YSou should find info on how to get documentation here