Hi Vlad222,
yes you can:
change <UserLevel>5</UserLevel> to <UserLevel>20</UserLevel> in section <DefaultUser>. 20 because this is the user level given in the section containing <Name>KrcExpertProgrammer</Name> down below.
Fubini
Hi Vlad222,
yes you can:
change <UserLevel>5</UserLevel> to <UserLevel>20</UserLevel> in section <DefaultUser>. 20 because this is the user level given in the section containing <Name>KrcExpertProgrammer</Name> down below.
Fubini
Hi,
for sunrise I do not know, but KRC based use the forum search with keyword INVERSE().
Fubini
Hi,
In $config.dat variables ExtUserIDWatchDog and ExtUserID were declared. And someone has applied a SETINFO (polls this variables every 200 ms) on these two variables. Probably these two variables are now deleted from $config.dat but the polling is still active. So redeclare them in $config.dat or stop the polling.
M_3199: "SETINFO on <KRL variable name> (Declaration place) suspended"
Cause: A suspended SETINFO on a KRL variable could not be reactivated. This might be caused by invalidating the variable or its declaration place.
Effect: Software modules are not notified if the variable value changes.
Remedy: The variable must be declared again.
Fubini
Hi,
this gets comlpex. Basically the positions inside the robot controller are coming from different execution steps inside the robot controller. But this is explained in detail in the highly recommended RSI courses you can take at KUKA.
Fubini
Hi,
QuoteI have been trying to use RSI to work it out, but I can not find any object in RSI for my issue.
look for RSI-Elements POSACT and AXISACT in your RSI documentation.
Fubini
Hi,
there is no system function for this, because the response time for system variables with about 200 ms would be much slower than the interpolation cycle time of 12 ms. But you could use technology packages like RSI which allow you to get such info at a higher rate. And then still you would have to do the extrapolation which position comes in the next cycle by yourself.
Fubini
And I thought we were talking about switching from PTPs to CPs inside a CP spline block, because you wanted to control cartesian velocity. Of course in PTP moves it does not matter because the fitting status and turn are a reslut of you forward call.
Fubini
Hi,
PTP moves always use the programmed status and turn. In CP programmed motions status and turn are not used. In CP moves the status is kept at the value in the CP moves beginning and turn is determined by a shortest path rule in interpolation. Hence you will follow the same cartesian positions as with PTP but might realise them with different axis angles.
Fubini
Hi,
they would be in KRC.xml if they still existed but they no longer are available. As far as I know (but I am no expert on this) the sheduling between VxWorks and Windows in KRC4 is handled completly different by means of the scheduling parts inside Config/system/common/KRC.xml. But end users should never change those system values anyway. So what are you trying to do?
Fubini
Yes you should be able to write
spline
slin forward(xp1,...)
endspline
But keep in mind status and turn are handled differently for CP moves.
Fubini
You can not control cartesian velocity in PTP movements. You will have to switch to CP movements. At least switch to SPL-Segments inside a CP-Spline block, because CP-Splines are programmed like olf PTPs only with added jerk and Cartesian velocity bounds. You can transform your axis positions using the built in FORWARD function to cartesian space.
Fubini
or think about using spline with the CONST_VEL feature
https://www.robot-forum.com/robotforum/kuk…63188/#msg63188
Fubini
Hi,
do not use the INI Fold in the beginning of your subprogram. It contains advance run stopping instructions and hence no approximation move is possible.
Fubini
Hi,
just set $EX_AX_NUM to 0 in R1/$machine.dat.
Fubini
Hi Diglo,
your solution is only feasable for KRC4 in KRC2 you needed $CURR_RED as mentioned by panic mode.
Fubini
Hi,
there is a paid option package called "VectorMove" to do this type of stuff. Never used it myself so my suggestion: for details contact your local KUKA representative.
Fubini
Hi,
for printf you could use
https://www.robot-forum.com/robotforum/kuk…59911/#msg59911
or use the forum search with keyword printf you also find krl_fprintf keyword for file prints.
For your second problem has been discussed many times: declare
E6POS MY_E6POS
assign your desired value
MY_E6POS.X = XP1.X
and then run your motion command:
LIN_REL MY_E6POS.
Last but not least consider taking a kuka training class.
Fubini
Hi,
in <AutoLock>ModeOP2Aut ModeOP2Ext</AutoLock> remove ModeOP2Aut and/or ModeOP2Ext to not drop user lever when switching.
Fubini
Hi,
no you can not. The number of workspaces is hard coded into the controller software. Bur you could buy SafeOperation option this would provide you with additional safe workspaces. I am not sure about the exact number of additional workspaces because i think it depends on your software version.
Or you could modify the workspaces on the fly as needed inside your krl programs.
Fubini
Hi,
I do not know if anyone can order it and what is the current functional range, but there is a technology package called RCS-Module by KUKA. This basically contains the before mentioned DLL. The module itself follows the RRS Interface Specification. RRS stands for "Realistic Robot Simulation" and implements a standard for offline programming of robots defined by a consortium consisting of all major automotive and robot manufacturers. CAD programs like Robcad, Delmia and others use different RCS modules supplied by the robot companies for their simulation.
Maybe talking to your local KUKA sales representative might help here.
Fubini