Found a little example!
Posts by Fubini
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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
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Double deepl?
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You could checkout $FLAG[] and $CYCFLAG[].
goes something like this:
$CYCFLAG[1] = $IN[1] AND $IN[2] OR $IN[3]
Fubini
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So basically you want to make two robots (of the same type?) interchangeable? That's what absolute accuracy is for.
RE: Absolute Accuracy Info KRC2 - KRC4
Fubini
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I think you should type chkdsk /f not \ f
Fubini
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From a unit point of perspective yes. From a practical interpretable perspective no. E.g. in DriveMotorTorq_CmdEko you would see oversteering and overshoot of motors torques. You would probably ask yourself why? Without being able to go into details this is done on purpose to actually apply the elasticity compensation. Think of the difference between Drive and Axis is more like a spring damper system than a static relationship.
This all gets very complicated fast and refers to KUKA company secrets that probably KUKA and certainly me as well even thuogh I am no longer with KUKA will not reveal.
If you want to trace the actual torques on drive side there is a channel in the NextGen Group somewhere. Do not remember the details though on how exactly it is called and where to find it exactly. And apart from gearing you would still have to additionaly apply axis coupling factor ($COUP_COMP[,]) for some axes.
Fubini
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And there are examples that modernizing the language was not accepted at all by the majority of customers. E.g. Sunrise used Java as programming interface and always got complaints about being non intuitive by the old guys. Also you where not able to reuse all vast program databases developed by customers over 20+ years.
Personally I think KRL is not to far from any other procedural languages like C/Pascal which is still is heavily used in for example safety applications. But I agree those languages are no longer taught much at universities and elsewhere. Unfortunately there is still is a wide variety of applications where all modern object oriented languages will fail. Sadly it is getting more and more difficult to hire good developers for such applications because its not as fancy.
Just a little remark from a 47 year old outdated "old guy"
Fubini
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The second one is no actual value but a set value after elasticity compensation.
GearPos_CmdFineIpo is position after fine interpolation.
Both require internal krc architecture knowledge to be interpreted correctly and are mostly used by Kuka R&D to analyse their internal algorithms and hence undocumented.
Fubini
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Since its plain KRL everybody is expected by KUKA to understand it on its own. But it helps probably to study system integrators and system variables documentation.
Fubini
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I would lookup $bas.src which does this already for inline forms.
Fubini
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Do you have MsgLib.src on your system? Unfortunately we know next to nothing what system you have. Messaging changed over the years.
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but that still doesn't mean kuka will come after you,
Exactly. This would also be my guess too. But some people might be afraid it is not like this.
Also if you buy a used machine from someone else KUKA are usually kind enough to grant you support anyway even if you did not buy the support package. As you said most support by KUKA is for free.
Fubini
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Might be one reason but it is only hearsay and and I do not want to imply anything to anyone:
Might also be that currently younger people do not think about doing stuff the old fashioned way.
Fubini
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Quote
How should I check if it`s an absolute accuracy robot?Assuming you have a KRC2: check $ABS_ACCUR
Absolute Accuracy Info KRC2 - KRC4
You did not specify your system in detail, see pinned topic READ FIRST:
Fubini
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AFAIK only KUKA has the checksum generator and knows how the checksum is generated.
So either get the unmodified original file from KUKA (KUKA has a database where they can extract any pid-file based on your robots serial number) and/or ask them (I do not think they will do this) to regenerate the checksum for your modified file.
You could also deactivate absolute accuracy completly if you do not need it. Here ask also KUKA on how it is done on an KRC2 or try forum search with $ABS_ACCUR keyword to find further info.
Fubini
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Can you post your R1/$machine.dat directly. Whatever which link i am pushin I alway only get Geo1.jpg.
Fubini
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My chinese ist not so good. Please use englisch in the future.
Translation according to Deepl:
"Hey guys
I have some questions about the KUKA robot package, I would like to know the exact location where the monitoring space data is stored as set by the safeoperation software?
The controller system is kss 8.6 and the safeoperation version is 3.5!"
Answer:
Nowhere where you can read it. It is stored in a binary file that is checksum protected, so no editing possible. What do you need to achieve?
Fubini