Posts by anthonyk123

Quote from Fubini

If stopnoaprox is showing nothing you are definitely blending only maybe with a very low velocity looking nearly as if robot stopps.

You are aware that c_ptp is a percentage value referring to an axis angle and c_dis a cartesian distance value. Hence like this the blending area might be very assymetric. Does it get better when using c_dis on both sides by using lin ... c_dis c_dis. Also in mixed blending it's always a bit difficult if accelerations on both sides are very different. Therfore it often helps a bit playing around with accelerations on lin and/ or ptp side.

Fubini

Hello Fubini,

Yes I tried c_dis c_dis next to LIN instruction and didn't work. The acceleration for both sides is equal to100. Do you suggest to change one of the accelerations?

Hello guys,

I am trying to do a continuous movement between a linear and PTP movements, however, I am noticing that the motion of the robot is not completely continuous. The robot is decelerating at the end of the LIN movement and barely stopping before continuing the PTP movement. I tried to do some troubleshooting, by enabling the $STOPNOAPROX to true but there's no sign of not doing an approximation. Here is part of the code that include the LIN and PTP movement:

LIN temp_pos6 C_DIS; to try ptp
;Waiting Zone Free
CONTINUE
WAIT FOR $IN[194]
PTP DPoint[LayerIndexAMD_01_NOROT, PickIndexAMD_01_NOROT, 6] C_PTP

The $advance run is 5 and I am able to do an approximation between 2 PTP however it is not working well between LIN-PTP movement. In addition to that, C_PTP and C_DIS approximation values are equal to 100 for both.

Could someone give me more tips on what can be the cause of not doing a continuous movement?

Thank you for your support.

Best regards,

aha so we can manipulate the workspace via programming. I didnt know about it.

One last question, is it better to put the conditions in the SPS right?

thank you

Hello guys,

I have a question regarding workspaces in Kuka. I have already defined the workspaces using the configuration tab in Kuka's flexpendant. However, I have noticed that I need also to have another limits when the robot is holding a product. For example, when the robot is holding a pallet, the workspaces should have different Z values than without a pallet.. What is the best way to do it? I am thinking of making it via PLC and/or via the SPS sub. What do you think?

Thank you.

Best regards,

Hello guys,

Sorry for reopening the thread. But I have one question, I was reading the Kuka System Software 8.3

Chapter 6.14 and it states the following:

Quote

6.14.5.2 Programming torque monitoring
Precondition : In order to be able to use the collision detection function, acceleration adaptation must be activated. Acceleration adaptation is activated when system variable $ADAP_ACC is not equal to #NONE. (This is the default setting.) The system variable can be found in the file C:\KRC\Roboter\KRC\R1\MaDa\$ROBCOR.DAT.

Procedure:

1. Position the cursor in the line before the motion for which the torque monitoring is to be programmed.
2. Select the menu sequence Commands > Motion parameters > Torque
monitoring. An inline form is opened.

My question is: If I have understood well, if I want to use the Set_TQ_Values or SET_CD_PARAMS function I need to set $ADAP_ACC different than #NONE right? In addition, can I use one time the function before all the motion commands so I apply one torque values for all motions? or it will be only applicable for the first motion?

Thank you for your support

Thank you for sharing the code.

What I have noticed that both functions set COLLMON_TOL_PRO to defined values however the "SET_TQ_VALUEs" has an additional option to assign the values to $TORQMON if $IMPROVED_COLLMON== FALSE.

I have searched also in the system variables manual about the variable $TORQMON and it states that :

Quote

it contains the current tolerance range for the axis torques in program mode. This tolerance range is defined using the variable $TORQMON_DEF in the file …STEU\Mada\$custom.dat.

however I couldn't find the definition of COLLMON_TOL_PRO.

So in conclusion, I can say that both functions achieve the same things but the set_tq_values has an additional option to set the TORQMON variable. In addition, the set_tq_values would be applied to all motions and it seems and the set_cd_parameters can be applied specifically for one motion.

Hello "Panic Mode",

I would like to clarify some misunderstanding:

1. I am asking a general question about the difference between those 2 functions and unfortunately I searched all the internet on it and I didn't find any piece of information.

2. I don't have any robot controller to test on it. I am just trying to learn the KRL language by myself.

In that matter, if someone can guide me to find the information in order to understand the behavior of both function.

I hope I made it clear

Thank you

Hello guys,

Anyone can help in this matter?

Thank you

Hello guys,

I was searching how to limit the torque for all the robot movement and I have found that I can use the Set_TQ_Values function however I've found that I can use the SET_CD_PARAMS function for each movement. In that matter, what is the difference in behavior between the 2 functions?

Thank you.

Best regards,

Thank you "panic mode" for your answer. It was so helpful.

But I have something that I haven't understand yet concerning the PGNO_Parity. Since it is a bit, how can I send the robot the value +23 or -23 from the PLC? The same for the PGNO_FBIT, how can I send to the robot the number 25 from the PLC?

Hello guys,

I am trying to understand the functionality of pgno_fbit and pgno_parity. I read that pgno_fbit is the first bit of the pgno what does that means? As for the pgno_parity it states that if the value is 0 it does not check, negative odd and positive even and still I didn't understand the meaning. Can someone explain to me in more simplier way about those 2 variables.

Thank you

Hello guys,

I was reading on your forum that we need to swap in the PLC or in the robot software the integer so we can read them in the same order in the PLC. However, I have searched a lot about this topic and I haven't seen any manual stating that we need to swap. Do you know where it is written this information?

Thank you

Hello guys,

I have a question related to the endless loop concept:

What is the difference between a GOTO instruction used in that manner and the LOOP-ENDLOOP statement:

LOOPLABEL:
;somecode

GOTO LOOPLABEL

Thank you.