Posts by robocoder
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Please explain You mean by running a loop?
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Ah, ok Thanks very much for the help!
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On page 6-82 in the ASRef_en manual it says:
Signal monitoring is canceled in any of the following cases:1. ...
2. The ON and ONI instructions are executed and the program has branches to a subroutine
I probably misunderstand something?
Also, the IGNORE. Does it matter if the signal has - (minus) in front or is it only the name that matters?
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Hi!
I am new to Kawasaki and interrupts and want to code something like this:
PickBox (Subprogram called by eg. main)
---------------------------------------------
CALL GripperClose
BREAK
; boxDetect is a signal within the gripper itself that should always be high when a box is
; in the gripper
ON -boxDetect CALL BoxDropped
CALL DoSomeCalculations
CALL DoSomeMotions
BREAK
IGNORE boxDetect
CALL GripperOpen
BoxDropped
------------------
; Box dropped by gripper
BREAK
BRAKE
HOLDIf I read the manual correctly the call to DoSomeCalculations and DoSomeMotions will cancel the interrupt? I have to set the interrupt again inside DoSomeCalculations and DoSomeMotions?
Do I need the BREAK above ON and before IGNORE?
Thanks!
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-900 is because it is placed on a pedestal. With other robot brands I am used to have a separate "base" for each workspace and almost never use frames. One would have a separate base for each pallet position, pick table and any other workspaces surrounding the robot. I guess this is different in the Kawasaki world where you would have just one base and frames for everything else then?
So a frame in kawasaki is essentially what is called a base in other brands and base in kawasaki is essentially what other brands refer to as a worldbase?
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The robot is rotated by 65 degrees on the floor relative to everything surrounding it. If the world coordinates of the robot could be changed it would be more intuitive moving it relative to everything else. Eg. now when moving the robot in the NULL-base it will move diagonally over pallet-positions etc.
But if I understand you correctly this is not possible with Kawasaki? I always has to ensure to use a predefined WorldBase by default:
worldbase = trans(0,0,-900,65,0,0)
base worldbase
It would also make it easier to set the workspace area limitations if the robot "believed" it was facing the fencing at 90 degrees (when in reality at 65 degrees) since the workspace limitations does not contain any rotational component.
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Hi!
Is it possible to redefine the nullbase to eg. z-900,o65 so that when i set "base null" the values will be included? or do I have to set a separate "worldbase" and always use "worldbase + workspace_base"
I want to do "null + workspace_base" instead of "null + woldbase + workspace_base"
Thanks!
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How do I convert from integer to real?
eg. BITS32() returns an integer, but in most situations integers can not be used. I can not even do
IF BITS32(2601, 32) == 5 THEN
...
END
as it will result in an error because integers can not be used in IF-tests
Thanks!
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Hi!
This is probably a silly question, but I can not find out how to touch up bases in a simple way in the real world. Eg. if the pallet is not flat on the floor, the Y-axis needs to be aligned to the same angle as the pallet. How is this done in practice on Kawasaki? On other brands it is possible to touch-up bases by setting the origo first, then moving the robot to the next point to set the angle of the x-axis and then finally move the tool in the y-direction to set the y-axis angle.
Thanks!
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Thank you very much! Too bad VMWare Player does not support saving snapshots. It would save some time if I could save a snapshot with eg. OfficeLite running and a separate VM with WorkVisual running. Snapshots are only supported in the Pro version of VMWare. However, buying VMWare may not be such a bad idea since it is a great tool I could use snapshots in VirtualBox for WorkVisual.
Anyway! Thanks again!
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Thank you very much for your tips! I thought about using Vim myself, there is a KRL syntax plugin which seems interesting Any success on using VirtualBox instead of VMWare? I guess not since OfficeLite is very picky about VMWare version
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Without knowing which robots you are talking about or what language you are using I would reply on a general basis that you are correct. WAIT is usually used to wait for conditions (I / O) or to wait for a specific amount of time. Some languages like KLR (KUKA) use "WAIT SEC 0" to stop the advance pointer of the program (the movements of the robot has to catch up before the interpreter continues to read and do calculations), but to the user this may not be noticed.
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Hi!
Are there anyone developing KRL programs on Linux? If so I am interested in hearing about your workflow.
- How do you transfer files to / from the controller?
- How do you debug / test your programs (since KUKA software is Windows only)?
- Offline programming with OfficeLite / KUKA.Sim possible in any way?
Thanks for any tips!
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Mentat, I am not sure how to respond to that :p
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Hi!
I am having some trouble moving the robot from OfficeLite in KukaSim.
I have created a new project in KukaSim with a "Kuka KR 60-3" Robot. The project only consists of the imported robot from the e-catalog. I then connect to OfficeLite with the configuration "KRC4-KR60_3-FLOOR", but get a bunch of "The position of the drive could not be initialized", "Drive initialization error", "Supply initialization error" etc. I am unable to turn on the drives.
I have also tried to create a new project from WorkVisual with a controller v8.3.42 and the "KR 60-3 F" robot. Then run "generate code" and "deploy". This seems to configure the robot correctly and remove the error messages, but even if KukaSim says connected to VRC, the jog-buttons in OfficeLite are unresponsive. The robot in KukaSim does not move.
Are there some steps I am missing?
Thanks for any help!
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You are correct sir! I meant 6D mouse
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Yes, it is when using the joystick. I want the robot to go to the desired x and z location, then make the operator only be able to move in the y-direction before making a touchup point.
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I'll have to think about something else Thanks for the tips anyway!
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Hi!
Is there a way to prevent the robot from moving in certain directions when programming touch-ups with the hand controller in T1?
eg. I only want the joystick to be able to move the robot in Y and Z direction. I want to lock the x-direction where the robot currently is and in the z-direction I only want to be able to move stright up or down (currently using palletize mode for this).
Thanks!