Thank you all for your replies, I think I'm gonna give beyond compare a try!
Overall I feel like Kuka is a bit aimless software wise. You need countless programming tools for functionality other companies create in a single one...
Thank you all for your replies, I think I'm gonna give beyond compare a try!
Overall I feel like Kuka is a bit aimless software wise. You need countless programming tools for functionality other companies create in a single one...
I know, i followed the instructions on menus after that... but it simply didnt work even by merging one single line in config.dat or one single new program... None of the changes appeared on the robot or the workspace... Normally this should do the job? I wondered if i was doing something wrong but i did exactly whats been described in WV manual...
i did right click on the controller and then merged it. but the changes do not appear neither on "programming and diagnosis" nor the KCP... just in the configuration workspace
it´s a KR 10 R1100-2
version 42.49.20.12
Firmware 8.6.5
Hi all,
i´ve done some work from home and now i would like to import all those changes to the real robot. I´ve merged the changes to the projekt thats active in the "configuration" workspace but now i want to transfer ONLY the changes not the whole project to the robot. Is there a way to do this?
thanks
thank you so much!
exactly what i´ve been searching for
Hi all.
i´m trying to find some solution to wait a specified time for an input signal for setting a bool to true if its coming in that time or to false if the time ran out without that signal incoming.
I just cant find anything, my google skills do not seem to be that advanced
Thank you all and have a good week!
anyone ever tried/used RobCAD and can tell something about usability?
anyone ever heard of/used RobCAD and can tell about usability?
As most time: you should provide all informations, and best would be to do this in one post, not in 10 different, and after other users ask for them.
I´m sorry i will improve on that!
Thank you for the tip, i will check that.
E6POS Xpunkt_ohne_teil={X 173.497833,Y 43.1656189,Z 17.0165672,A -0.00338842836,B -0.00354628311,C 0.00182186509,S 2,T 2,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
Xablagepunkt_mit_offset is copied from the origin positional value. its simply the position to calculate with and not loose the origin. That original position is no longer present in the program but in a sub where all important origin positions are saved
E6POS Xvp_joch_offset={X 160.446960,Y 43.1655579,Z -24.2341080,A 2.99826145,B -0.00354624679,C 0.00182122306,S 2,T 2,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
The Position gets calculated with the same variable
xvp_joch_offset.A = xvp_joch_offset.A - Winkel_Versatz
SPTP Xvp_joch_offset WITH $VEL_AXIS[1] = SVEL_JOINT(50.0), $TOOL = STOOL2(Fvp_joch_offset), $BASE = SBASE(Fvp_joch_offset.BASE_NO), $IPO_MODE = SIPO_MODE(Fvp_joch_offset.IPO_FRAME), $LOAD = SLOAD(Fvp_joch_offset.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPDAT10), $APO = SAPO_PTP(PPDAT10), $GEAR_JERK[1] = SGEAR_JERK(PPDAT10), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0) C_Spl
KSS 8.6.5
Robot Type KR 10 R1100-2
TOOL_DATA[1]={X -0.429825753,Y 0.337693840,Z 246.572800,A 0.0,B 0.0,C 0.0}
BASE_DATA[2]={X 186.293747,Y -603.408936,Z 154.297424,A 134.859619,B 0.169904545,C -179.832352}
E6POS Xablagepunkt_mit_offset={X 160.497833,Y 43.1656189,Z 14.5165672,A 0.0,B -0.00354628311,C 0.00182186509,S 2,T 2,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
in calculation sub program:
xablagepunkt_mit_offset.A = xablagepunkt_mit_offset.A - Winkel_Versatz
in main Program:
SLIN Xablagepunkt_mit_offset WITH $VEL = SVEL_CP(0.05, , LCPDAT4), $TOOL = STOOL2(Fablagepunkt_mit_offset), $BASE = SBASE(Fablagepunkt_mit_offset.BASE_NO), $IPO_MODE = SIPO_MODE(Fablagepunkt_mit_offset.IPO_FRAME), $LOAD = SLOAD(Fablagepunkt_mit_offset.TOOL_NO), $ACC = SACC_CP(LCPDAT4), $ORI_TYPE = SORI_TYP(LCPDAT4), $APO = SAPO(LCPDAT4), $JERK = SJERK(LCPDAT4), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
Thanks for your help!
REAL Value = 345.0
IF position_actual.A6 >= Value
should be used
Would be working without interrupt or am I wrong here? Then I wouldn't constantly be able to check the next motion. That's why I decided to go with interrupt. I want the robot to know if the next position to move to, would be out of limits before he's actually going to move. The movement needs to be linear.
Sorry i'm still pretty new and don't know if I am thinking in the wrong direction...
How does your linear movement looks like A, B an C?
Yes that's been kind of nonsense, the thing to know is that the point is teached at A6 -28°
That's why I've teached the position to calculate with A0. 00 (A6 - 28°) . Like I said, way more room to rotate than needed but still, sometimes it happens to be exceeded
Hi all,
my Situation :
I have to rotate a cylindric Part according to a previously calculated angle.
There is one position that's calculated with that angle. For the most times its working fine, but there are some very few times where my problem occurs.
The calculated angle drives axis 6 to software limit. When I checked, the calculated angle was always -34. xxx/-35.000
Starting Situation : Position teached at A6 - 28°, A 0.00. Linear movement.
I wanted to Interrupt when the next positional value in axis 6 was going to be bigger than angle (345°)
Position_actual=$POS_ACT in sub.sps
INTERRUPT DECL 4 WHEN position_actual.A6 >= angle (angle.A6 in tryouts with E6POS and E6AXIS) DO angle_exceeded()
I declared angle in config.dat
as INT, REAL, E6POS and E6AXIS in different tries. None of it worked. Syntax check told me they don't match because of different type.
I tried to fill $AXIS_FOR into position_actual and compare with E6AXIS
position_actual=$AXIS_FOR
If position_actual >= angle.A6....
but that didn't work either.
Anyone got a tip or solution more elegant than that what I'm trying to do?
Would appreciate that very much
Thanks