Hello,
does anybody know how to disable touchup command on KRC4 when logout is active - user operator?
I need to disable this command to prevent accidental touchups, when administrator is login, touchup should work.
Thank you,
Marko.
Hello,
does anybody know how to disable touchup command on KRC4 when logout is active - user operator?
I need to disable this command to prevent accidental touchups, when administrator is login, touchup should work.
Thank you,
Marko.
SkyeFire, I try this solution and is working, thanks. Variables must be FRAME, not post, frame is without S&T. How reliable is that robot will not make some odd movement in the case that base is moved for long distance? If I test once, will be repeatable?
Still, my question is why this (moving the base) is not working for that case? I understand S&T status but what I have to do manually can be done in background, at least for some some small distance from starting point of base. So if you have many working places you can not avoid that some axes doesn't cross the 0 and change S bit, in that cases you can not make correction with moving base - this is also one of purpose of base, isn't it?
Thanks again for help,
Marko.
I try this movement on physical robot, if I move base system for example for 500 mm, it is still working, because A6 is still negative (absolutely position of A6 for first basket in first column is -50, for first basket in second column is around +10). my Base 1 is in line with the nullframe. I think that line BASE_DATA[1].Y=-1013+670 means that base 1 is moved for 670mm relative to world/nullframe, in my case is the same to world or base position, because rotations of base are 0.
I cannot rotate A6 for 360 because this is working robot with wired gripper, my job is to make it faster. Also position of A6 is around 0, so it is in the middle of working area.
I don't understand how robot can not calculate this movement. If forget to mentioned that if I change this movements from PTP to LIN then this method is working ok.
Thanks for your help,
Marko.
I have a problem with base transformation.
In robot cell there are three boxes, each box has two columns and each column has 4 baskets.
I defined base 1 for first box and I pick up one basket with 15 points, all PTP because I need speed. Points are touchup in my base 1 system.
For other basket in this box I plan just move base 1 system, first column with changing Z, second column with changing Z and Y value.
Box is in paralel with nullframe of robot.
My problem is that when I move the base, in some points axes A6 change sign and robot don't go to that point, I get error software limit -A6 out of range.
I attached one small test. If I run program with base Y=-1013 than is ok, if I run program with Y=-1013+670, I get error when moving to P2.
I simulate also on KukaOfficeLiteKRC and is the same problem.
Any idea how to solve this?
Thank you,
Marko
PTP HOME
BASE_DATA[1].X=1314
BASE_DATA[1].Y=-1013+670
BASE_DATA[1].Z=291
;FOLD PTP P1 Vel= 100 % PDAT1 Tool[1] Base[1]:boxA;%{PE}%R 4.1.16,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P1, 3:, 5:100, 7:PDAT1
$BWDSTART = FALSE
PDAT_ACT=PPDAT1
BAS(#PTP_DAT)
FDAT_ACT=FP1
BAS(#FRAMES)
BAS(#VEL_PTP,100)
PTP XP1
;ENDFOLD
;FOLD PTP P2 Vel= 100 % PDAT2 Tool[1] Base[1]:boxA;%{PE}%R 4.1.16,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P2, 3:, 5:100, 7:PDAT2
$BWDSTART = FALSE
PDAT_ACT=PPDAT2
BAS(#PTP_DAT)
FDAT_ACT=FP2
BAS(#FRAMES)
BAS(#VEL_PTP,100)
PTP XP2
;ENDFOLD
Points from DAT file:
DECL E6POS XP1={x -172.0,y -18.0,z 1007.0,a 117.0,b 89.0,c 116.0,s 6,t 50,e1 0.0,e2 0.0,e3 0.0,e4 0.0,e5 0.0,e6 0.0}
DECL FDAT FP1={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE}
DECL PDAT PPDAT1={VEL 100.0,ACC 100.0,APO_DIST 100.0}
DECL E6POS XP2={x -172.0,y -18.0,z -26.0,a 117.0,b 89.0,c 116.0,s 6,t 50,e1 0.0,e2 0.0,e3 0.0,e4 0.0,e5 0.0,e6 0.0}
DECL FDAT FP2={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE}
DECL PDAT PPDAT2={VEL 100.0,ACC 100.0,APO_DIST 100.0}