External Offset might be what you are looking for. It extends the $BASE concept to additional axes, see $JOINT_OFFSET[].
Fubini
Posts by Fubini
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has hints on where to find documentation.
Also checkout Office Lite if you only want to simulate.
But best way to start is still to take beginners course at Kuka or somewhere else.
Fubini
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You are aware this is legally protected software you are asking for. This kind of questions can get ypu banned according to the forum rules. The only one who can provide a legal copy is KUKA.
Fubini
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Just why not providing small toy like robot and free software?
About 5 to 10 years ago there was an educational small robot but did not sell well enough to be kept alive.
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As the message says you programmed a corner into your Spline. This is quite easy to understand for the cartesian coordinates X,Y,Z. Try e.g. with your car to do an instantanious 90 degree direction change. It obvoius to everybody that this can not be done without stopping the car.
The same holds for orientation as well. This can only be avoided by smoothing the corner by using a SPL with orientation change between the connecting SLINs.
At least this was the reason most of the time when I had discussion in the past. Why does everybody always think the physics for orientation is different to the physics for translation. AFAIK they coexist in the same universe and therfore have to stick to the same rules
.Fubini
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Restore from your last working backup or reinstall from scratch. I think usually this only happens if something gets corrupted and VxWorks can not start.
What were your last modifications and actions on this machine?
Fubini
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😱 Of course B not A. Thanks Hermann.
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Your screenshot in the line left to your red marking (under the hood this exactly $ERSYSROOT). Set A,B,C values such that the coordinate system is on the ceiling.
E.g.
setting C = -180 or +180 will put your robot in the ceiling
also
setting A = -180 or +180 will put your robot in the ceiling
which one you chose is up to you. Basically it should be the version so all installations in your cell refer to a joint inertial coordinate system also often called World if needed.
Fubini
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What exactly do you mean by "this" in "Where is this parameterized?"?
- You mean the machine data that put the robot on ceiling or floor: $ERSYSROOT in R1/$machine.dat
or
- Robot has a counter balance system: Look at real robot. If there is cylindrical object mounted on axis 2 it has a cbs
or
- the robot has absolute accuracy: type $ABS_ACCUR in diplay -> variable -> single or open robot info page on HMI. If it has absolute accurcy it should read positionla accurate robot approximatly in the upper left corner
or
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Fubini
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First of all you need to consider whether your robot can be used on ceiling and on floor. Suprisingly enough this is not guaranteed. E.g. every robot with counter balancing system can not change its mounting. The same is true for every robot with absolute accuracy.
Then I would consider customer expectations. In my opinion swapping only the mounting and expecting everything will work out of the box exactly the same is dilusional.
If your robot does not fit in the above categories you can change the mounting by swapping the mounting setting to the required mounting inside WorkVisual.
Unfortunatly WorkVisual does not hinder you to configure nonsense here. E.g. it allows you to mount any pallettizer on the ceiling if is obvious bullshit because then you would have to pallettize on the ceiling.
Fubini
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Simple answer. There is no option to disallow this in KRC2 as far as I remember. KRC2 uses a Windows user account with administrative privileges. The Kuka HMI user accounts have nothing to do with the windows user account. There is a technology package KUKA.NONADMIN but I am not sure this was already available for KRC2. You could lookup the package in KUKA Xpert, see pinned topic READ FIRST if you do not already have an account.
Fubini
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Ok lets make a deal. I help you if you help me.
My car is not working. I need it to go to work. Btw it has 4 wheels that need to run simultaneously.
That's about as much information you give. Let's see if you can solve the mystery what's wrong with my car.
Sorry. In this way it will not work here. How about taking a basic KUKA training course?
Fubini
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You can not run multiple PTPs simultaneously.
It would help if you would elaborate on your question.
Combination of synchronous asynchronous motion?
Multiple kinematics parallel?
Robot plus external kinematic?
Goeometrically coupled or not?
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What software? What robot? ...
See Read First.
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PTP vs. ASY_PTP?
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RDP feature was removed from 8.6 version. So strange desision.
Not really. Might be a problem with SPOC.
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You could compare KLIConfig.xml between your two installations. The port for RDP must be allowed and is blocked by default. This was also the case in V8.5. But maybe someone already opened the port inside your V8.5 in the past ...
Fubini
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Then ask Kuka. They can identify it by the serial number.
Also Check $Robtrafo[] and $trafoname[]. First one is model type stored on rdc. Second one on PC side. You can enter them under display -» variable -» single.
The mada differences are different gear manufacturers teijin tj or zf. If you know you can rule out a few. Hpcbs and gscbs are different counter balance systems mounted on axis 2: hydraulic or gas cylinder. 150k is a Konsole machine having less height of axis1 base mechanic structure. Finally150p_2 was a transpressor machine I think. Quite improbable you have this type.
Fubini
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