Hello Fubini
Thank you very much for your help.
I found what the problem was.
In file config.dat and base orientation.
Serg
Hello Fubini
Thank you very much for your help.
I found what the problem was.
In file config.dat and base orientation.
Serg
I try replace line 22 with EX_BASE(17,2), don't work correct too.
Moving base is activate, when I halt program and jog the table, robot jog too. You can see on video, robot and table move, but robot must physically stand still, and the table must rotate.
Serg
Hello Fubini
Thank you very much for information, I am read and correct my configuration, but robot don't work.
This is my code, maybe it is wrong
&ACCESS RVP1
&REL 80
DEF p8()
;FOLD INI
;FOLD BASISTECH INI
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
BAS (#INITMOV,0 )
;ENDFOLD (BASISTECH INI)
;ENDFOLD (INI)
$ADVANCE = 1
PTP $POS_ACT
$VEL.CP = 0.10000
BAS (#TOOL,10)
BAS (#VEL_PTP,75)
BAS (#ACC_PTP,75)
;$APO.CDIS=0.1
;$APO.CORI=1
;$APO.CVEL=100
;$APO.CPTP=50
$IPO_MODE=#BASE
BAS (#BASE,17)
$VEL.CP = 0.10000
PTP $AXIS_ACT
$VEL.CP = 0.10000
LIN {E6POS: X -105.9620, Y -56.0336, Z 575.0000, A -42.7471, B -8.2365, C -157.8460, E1 482.85300} C_VEL
$VEL.CP = 0.02500
LIN {E6POS: X -106.8830, Y -54.2579, Z 575.0000, A -43.6894, B -8.2365, C -157.8460, E1 481.91100} C_VEL
LIN {E6POS: X -107.7730, Y -52.4674, Z 575.0000, A -44.6319, B -8.2364, C -157.8460, E1 480.96800} C_VEL
LIN {E6POS: X -108.6350, Y -50.6624, Z 575.0000, A -45.5750, B -8.2364, C -157.8470, E1 480.02600} C_VEL
LIN {E6POS: X -109.4660, Y -48.8436, Z 575.0000, A -46.5189, B -8.2363, C -157.8470, E1 479.08200} C_VEL
LIN {E6POS: X -110.2680, Y -47.0112, Z 575.0000, A -47.4641, B -8.2361, C -157.8470, E1 478.13700} C_VEL
LIN {E6POS: X -111.0390, Y -45.1659, Z 575.0000, A -48.4108, B -8.2360, C -157.8480, E1 477.19100} C_VEL
LIN {E6POS: X -111.7790, Y -43.3081, Z 575.0000, A -49.3594, B -8.2358, C -157.8480, E1 476.24200} C_VEL
LIN {E6POS: X -112.4890, Y -41.4383, Z 575.0000, A -50.3101, B -8.2357, C -157.8490, E1 475.29200} C_DIS
LIN {E6POS: X -113.1670, Y -39.5569, Z 575.0000, A -51.2633, B -8.2355, C -157.8490, E1 474.33900} C_DIS
LIN {E6POS: X -113.8140, Y -37.6646, Z 575.0000, A -52.2192, B -8.2353, C -157.8500, E1 473.38300} C_DIS
LIN {E6POS: X -114.4660, Y -35.6443, Z 575.0000, A -53.2374, B -8.2350, C -157.8500, E1 472.36500} C_DIS
LIN {E6POS: X -115.0470, Y -33.7307, Z 575.0000, A -54.2000, B -8.2349, C -157.8510, E1 471.40300} C_DIS
...
END
DEF EX_BASE(BASE_NO:IN,MACH_IDX:IN)
INT BASE_NO, MACH_IDX
;MY_FRAME=BASE_DATA[BASE_NO]:{X -1906.0, Y 523.0, Z 50.0, A 0.0, B 0.0, C 0.0}
$BASE=EK(MACHINE_DEF[MACH_IDX].ROOT,MACHINE_DEF[MACH_IDX].MECH_TYPE,BASE_DATA[BASE_NO]:{X -1906.0, Y 523.0, Z 50.0, A 0.0, B 0.0, C 0.0})
$ACT_BASE=BASE_NO
END
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Maybe you can help me?
Thanks in advance
Maybe you can help me setup external axis on KUKA? In rodoDK I have configuration so that when the table rotates, the coordinate system rotates too. The robot, in order to stay in place, compensates for the rotation of the table by rotating in the opposite direction of the axis A
Serg
Hi to all!
I want the robot to mill the element using the external axis. The expected behavior is: the robot approaches, takes position and then the external axis turn, then the robot change position and the external axis turn back and so on until the end of the program.
In the program, everything works very good, but in real, the table rotates in the one direction, the robot in the other.
The table is calibrated, when the table rotates in T1, the cutter moves behind it.
Do you have any suggestion to solve this?
Info :
KUKA KR210-L180-2
KRC 2 V5.5
Software RoboDK
Thanks in advance