Posts by jagdish

  • Spline Blocks

    He is right on that part...I am the one who misremembered (frankly din't know or appreciate the difference.)

    For everyone's benefit...I got this from a KUKA guy, to put C_SPL at the last line of the block, (maybe everyone out there is aware of this...but)


    ENDSPLINE C_SPL


    Thanks again.

  • Spline Blocks

    1) Thanks Fubini. I will make even this work.


    2) These is what I remembered reading (am new was reading tons so I remembered it)

    11.6 Programming
    KRL code Almost all KRL instructions can be used in a SUB program. The following
    statements are not possible, however:
     Statements for robot motions
    Robot motions can only be interpreted by the robot interpreter. For this
    reason, SRC programs containing motion commands cannot be called as
    subprograms from a SUB program.
     Statements referring to robot motions
    These include BRAKE and all TRIGGER statements.


    3) If I code

    ...

    PTP p1

    LIN p2

    LIN p3

    ...

    no approximation or spline, the steps are such that the robot moves to p1, p2 and p3 NOT with constant speed it accelerates, and decelerates noticeably.

    3) The robot program is in KRC:\R1, I was hoping the subroutine can be parked anywhere else even if the program is compiled and not line interpreted.


    THANKS for all your answers.

  • Spline Blocks

    Thanks for the response.


    1) The robot does NOT stop, acts just as it would with PTP this, LIN that commands.

    2) I do not use Visual Works, I have access to the D:\ drive on the KRC4 from my PC and I can park files there...the question is can a running program call a subroutine that is still in the D: drive? If so, I avoid that extra step of copying and parking my subprogram file in the 'other' folders where I think it can be accessed.

    3) Can subprograms actuate the robot, not sure why they wouldn't but I thought I read something somewhere.


    Thanks.

  • Spline Blocks

    Hi All,


    1) I have this 'sub-code' and the segments moves are smooth as expected, however there are those 'undesirable' stops between segments. Any idea how to get smooth (non-stopping) transitions? .


    FOR seg = 1 TO COM_SEG-1

    strt = 5*seg - 4

    PTP COM_XP[strt]

    SPLINE WITH $VEL.CP = COM_VEL[seg]

    SPL COM_XP[strt+1]

    SPL COM_XP[strt+2]

    SPL COM_XP[strt+3]

    SPL COM_XP[strt+4]

    ENDSPLINE

    ENDFOR               


    Note: 1) Every parameter is a variable I can pre-set.

    2) I tried SPTP, SLIN for line 3 but the robot slows down close to a stop at the transitions, as you'd see with the PTP, LIN moves.


    2) Another (kind of related) question.

    Any way of calling a motion command (like, a single, spline block) from an src file residing in a different folder (a. within /krc/R1/Program and b. in the C:\ or even the D:\ folder?

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