Posts by litrmleka

What can be done to make the toolpath smooth but accurate?

For example:

DEF Loged2( )
 
EXT BAS (BAS_COMMAND :IN,REAL :IN )
 
;FOLD INI
BAS (#INITMOV,0 )
;ENDFOLD (INI)
 
;FOLD STARTPOS
$BWDSTART = FALSE
PDAT_ACT = PDEFAULT
BAS(#PTP_DAT)
FDAT_ACT = {TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE}
BAS(#FRAMES)
;ENDFOLD
 
;FOLD SET DEFAULT SPEED
$VEL.CP=0.2
BAS(#VEL_PTP,100)
BAS(#TOOL,0)
BAS(#BASE,0)
$APO.CDIS=0.5
;$APO.CPTP=0.5
;ENDFOLD
 
$ADVANCE = 3
 
PTP $AXIS_ACT ; skip BCO quickly
$BASE = {FRAME: X 2450.554,Y 537.067,Z 388.000,A -90.000,B 0.000,C 0.000}
$TOOL = {FRAME: X 561.570,Y -0.182,Z 298.367,A -90.000,B 0.000,C 90.000}
PTP{X 812.193, Y 251.208, Z 50, A 0, B 0, C 0 }
PTP{X 812.193, Y 251.208, Z 35, A 0, B 0, C 0 }
$VEL.CP = 0.1
LIN{X 812.193, Y 251.208, Z 0, A 0, B 0, C 0 } C_DIS
$VEL.CP = 0.5
LIN{X 964.158, Y 251.208, Z 0, A 0, B 0, C 0 } C_DIS
CIRC{X 983.25, Y 243.3, Z 0, A 0, B 0, C 0 },{X 991.158, Y 224.208, Z 0, A 0, B 0, C 0 } C_DIS
CIRC{X 983.25, Y 205.116, Z 0, A 0, B 0, C 0 },{X 964.158, Y 197.208, Z 0, A 0, B 0, C 0 } C_DIS
LIN{X 812.193, Y 197.208, Z 0, A 0, B 0, C 0 } C_DIS
LIN{X 812.193, Y 251.208, Z 0, A 0, B 0, C 0 } C_DIS
$VEL.CP = 0.4
LIN{X 812.193, Y 251.208, Z 50, A 0, B 0, C 0 } C_DIS
PTP{X 812.193, Y 344.355, Z 50, A 0, B 0, C 0 }
PTP{X 812.193, Y 344.355, Z 35, A 0, B 0, C 0 }
END

Unfortunately, the robot slows down at each end.

If i change:

$APO.CDIS=20

It goes without pauses, unfortunately with smoothing, i.e. less accuracy. What to do to make it without pauses with accuracy?

Regards.

I do not know about these gamepads (if they have any SDK or API), but if they have any, I think it is programmable. On the web is a video showing the robot control via mobile phone (using KukaVarProxy).

So it's better to try to avoid interruptions to such solutions?

And what in case, if in "DO_SOMETHING" I would like to have a timer of 3 seconds and if after these 3 seconds the signal does not disappear then stop the program and display the alarm. But without WAIT in SPS. Only timer. Which solution would be appropriate?

I added "GLOBAL" instinctively, because I have many branches and subprograms.

The second (in the loop) is only example, of course, this is the main loop in SPS.SUB.

Hello. I create such a little more expanded SPS and I have a question how it is more correct.

SPS file:

...
;user init
GLOBAL INTERRUPT DECL 21 WHEN WATER_PRESSURE_MISSING DO DO_SOMETHING()
INTERRUPT ON 21
...

or (also in SPS file):

...
LOOP
IF (WATER_PRESSURE_MISSING) THEN
DO_SOMETHING()
ENDIF
ENDLOOP
...

WATER_PRESSURE_MISSING is input signal from external sensor.

Regards.

Topic to close, the problem was the cable coming out of the RDC.

Hi everyone,
I turned on my robot today and found a message: "Data of RDC and Hard Disk inconsistent! Check robot data!"
In Robot Data i have wrong Machine Data on RDC, but when i try send correct value from Hard Disk to RDC i get:
"Writing on RDC failed".

What can be the reason?

Best regards

KUKA KR360 L240
KRC2 - KSS 5.6.6