Posts by Fubini

    First get rid of all those useless Continue commands. You clearly do not get whats causing advance run stops and what not. I do not see any advance run stopping commands apart wait sec 0 and maybe dmg_in if in means input. The continues should be useless anyway because you seem to have a blank line after each continue. Continue if really needed only refers to the direct next line.


    To keep the advance run pointer inside the interrupt move the wait sec to the end of the interrupt.


    Why do you set spline options but do not use spline.


    In general your program needs some cleaning up. If you do it like this its no wonder that its difficult to get whats happening. Strip it down to the absolute necessary and restart from there.


    Fubini

    What's a mtd file. Never heard of it,


    Status and Turn are part of the positional information you program for a motion. Turn is defined by the bits in the T struct of a e6pos. What they are precisely is explained in the system integrators manual. Just look it up.


    Just programming xyzabc does not define uniquely a robots position in space. Each set of xyzabc can be reached by more than one set of robot axis positions. Hence Status and Turn are used as additional information to decide which axis values to choose from the sets of possibilities. Some set may be feasible some not. In your case the chosen set is not feasible because it would violate axis 5 limits.


    Some times it's easiest to not program Status and Turn directly and leave them out of the e6pos. This allows the system to choose according some internal strategy that often lead to the best solution. The strategy in detail is part of documentation and can be found in the forum as well if you search for keywords Status and Turn.


    Fubini

    And maybe load parameters are not ok?

    No it should not. Load data is given with respect to the flange system and the flange system does not change when putting a robot on the ceiling. Only $Robroot changes (or in case of a KL involved $ersysroot).

    As Panic suggested I would make a diff between floor mounted and ceiling mounted madas. If available possibly also for not WorkVisual created machine data of your robot but for data inside the machine data tree of an KUKA installation image. This would help to identify whether for your robot type some additional changes might be necessary.

    Fubini

    How did you configure the robot to be ceiling mounted? Can you show machine data?


    Is the robot absolute accurate?

    Has the robot a counter balancing system?

    Both these conditions would mean the robot cannot be mounted on the ceiling, because internal models (dynamics model, absolute accuracy model) would be calculating results not fitting your ceiling robot which would lead to command gear torque errors. For these models you would need a totally different set of configuration data and not only gravity direction needs to be flipped.

    Think about the counter balancing system instead of pull it would in ceiling configuration need to push. Since its A2 my guess is you have a counter balancing system.


    Fubini

    You need just to open setup.exe and install system...

    But first check if your licence covers this. And if it covers it you would not need to do it like that but could ask KUKA for the installation sources (including necessary windows image). Also there a limitiations on what upgrades are possible depending on the mainboard version (MCC). So talk to KUKA to be sure.

    Minimal requirements can be found in ReadFirst. Asking us what we need is a bit difficult. This would require us to read your mind. The more info you can provide about what you did how your system is configured and stuff like that helps.


    Also think about what else you could share? Only you can for example know the history that lead to this error. You are the only one who can tell what type of safety you are using ...


    And postin screenshots in Chinese not helpful at all. Can you switch to English before posting them?


    Fubini

    What weight difference? Light Boxes weigh how much? Heavy boxes weigh how much? What robot type? Please be a lot more specific and read forum read first and honor the suggestions given there.



    A 150 kg robot will for example not be able to decide between 20 and 25 kg. Industrial robots are not that sensitive. They do not have torque sensors. So torque is only estimated from current.


    Use a scale to determine the weight will probably be better.



    Fubini

    github? Bitbucket? Tons of sample programs for pretty much everything in pretty much any programming language. Or are you looking for something in peticular?


    There is no special subforum for examples. Just use search function for specific topics.


    Fubini

    What do you mean by difficult? I am eager to help but you need to be more specific. This sounds to me like you already speak Italian and wonder now why it does not help you in France. You should at least be willing to learn French.


    Spline can solve pretty much any problem you could also solve with traditional motions but you have to learn its tricks and tweaks just as you learned them for traditional programming style and now apply automatically without even thinking about them anymore. But remember when you started out this was probably not the case. In my experince you can achieve most of the times better results in performance, accuracy, ... with spline than with tradional programming and usually if you learn and become a spline expert this better results can be reached in less amount of time you have to invest.


    Fubini

    Maybe you use it wrong. What are these problems? Just complainig does not help. I am not sure I have understood your explanation correctly but If you want to stop on path on a defined position if a certain input is in desired state use stop when path feature aka conditional stop.


    Fubini

    No there is not. Why would you want to do this? This is a position that in normal execution should never be reached. Spline geometry is always the same with blending even when approximation is not possible. This is collision safe.


    Fubini