Posts by Jed Smith

  • Kuka LIN command speed

    Hi


    I have a KRC4 robot and I am using external equipment to generate the target position. The target position only needs to move on X,YZ and rotates about axis 6. Using the code below the robot goes to the correct position but does a strange angular move to reach its final position. Ideally I would like to just use a PTP command rather than LIN but the robot throws up an error.

    I have put a position above the target position so in theory the tool only needs to rotate about angular A.





    ;Moves to the detected position.

    IF rPrm[7]==0 THEN

    pTgt = $POS_ACT

    pTgt.X = rPrm[1]

    pTgt.Y = rPrm[2]

    pTgt.Z = rPrm[3]

    pTgt.C = rPrm[4]

    pTgt.B = rPrm[5]

    pTgt.A = rPrm[6]

    LIN pTgt


    Is it possible to use a PTP command?

    Also how do I change the speed of the LIN command?


    Any Ideas

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