Posts by robo_noob

Quote from MOM

Hi,

I could not find the $TOOL

which KSS version are you using (maybe there are different versions of th KR150)?

With these information I hope to do a recalculation and give you the answer to your problem.

regards

MOM

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Hi MOM,

How $TOOL helps in this case?

I'm using this version (hope it can bring enough information). Then I use the KR 150 model from KUKA.Sim Pro 1.1

Thanks

Quote from Fubini

Software Limit Switch in ptp moves is always a issue with (programmed) turn. In jogging mode turn does not matter because ambiguity is resolved using shortest path interpolation.

So you should read section about stats and turn in documentation.

Fubini

Hi Fubuni,

Sorry to ask, how do i active this jogging mode?

I will surpass PTP, but first I really want to understand the basics.

Thanks

Hi,

Currently starting in robotics field. I'm reading "KRC - Expert Programming" (one of the manuals suggested in the forum) and in page 46 there is an example of geometric operator and coordinates systems. I write the code to the program (OL 4.1 and Sim 1.1) and OL gives me this error: "Software limit -A3 out of range".

Could you help me? After the error I moved the robot manually 100mm and worked fine...

Code:

DEF GEOM_OP ( )

;--------- Declaration section ---------

EXT BAS (BAS_COMMAND :IN,REAL :IN )

DECL AXIS HOME ;Variable HOME of type AXIS

DECL FRAME MYBASE[2] ;Array of type FRAME

;---------- Initialization ---------

BAS (#INITMOV,0 )

HOME={AXIS: A1 0,A2 -90,A3 90,A4 0,A5 30,A6 0}

$BASE={X 500,Y 0,Z 1000,A 0,B 0,C 0}

REF_POS_X={X 100,Y 0,Z 0,A 0,B 0,C 0}

REF_POS_Y={X 100,Y 100,Z 0,A 0,B 0,C 0}

REF_POS_Z={X 100,Y 100,Z 100,A 0,B 0,C 0}

MYBASE[1]={X 200,Y 100,Z 0,A 0,B 0,C 180}

MYBASE[2]={X 0,Y 200,Z 250,A 0,B 90,C 0}

;------------- Main section ------------

PTP HOME

PTP $BASE

WAIT SEC 2

PTP REF_POS_X

PTP REF_POS_Y

PTP REF_POS_Z

; Motion in relation to $BASE-CS offset by MYBASE[1]

PTP MYBASE[1]

WAIT SEC 2

PTP MYBASE[1]:REF_POS_X

PTP MYBASE[1]:REF_POS_Y

PTP MYBASE[1]:REF_POS_Z

; Motion in relation to $BASE-CS offset by MYBASE[2]

PTP MYBASE[2]

WAIT SEC 2

PTP MYBASE[2]:REF_POS_X

PTP MYBASE[2]:REF_POS_Y

PTP MYBASE[2]:REF_POS_Z

; Motion in relation to $BASE-CS offset by MYBASE[1]:MYBASE[2]

PTP MYBASE[1]:MYBASE[2]

WAIT SEC 2

PTP MYBASE[1]:MYBASE[2]:REF_POS_X

PTP MYBASE[1]:MYBASE[2]:REF_POS_Y

PTP MYBASE[1]:MYBASE[2]:REF_POS_Z

; Motion in relation to $BASE-CS offset by MYBASE[2]:MYBASE[1]

PTP MYBASE[2]:MYBASE[1]

WAIT SEC 2

PTP MYBASE[2]:MYBASE[1]:REF_POS_X

PTP MYBASE[2]:MYBASE[1]:REF_POS_Y

PTP MYBASE[2]:MYBASE[1]:REF_POS_Z

PTP HOME

END

PD: I'm using the KR 150 model. If modify $BASE={X 1000,Y 0,Z 1000,A 0,B 0,C 0} gives me the error in the A5.

Thanks!