06-04-2020, 02:55 PM
Hi,
We have KUKA KR16 with KRC2 and external axis KUKA KL 250 / 2C (this external axis is not in library). This external axis is designed for ceiling operation. But we use it on floor. When we use moveJ robot work fine. But when we use moveL robot move to unknown position. What should we do to make the system work properly. For details, I attached a video and file robodkproxy which we use.
video:https://drive.google.com/file/d/1vUEVseh...p=drivesdk
[url=https://drive.google.com/file/d/1vUEVsehaXRjdvGE2ArZ5Yq7Q8nj3I4Sg/view?usp=drivesdk][/url]robodkproxy:
We have KUKA KR16 with KRC2 and external axis KUKA KL 250 / 2C (this external axis is not in library). This external axis is designed for ceiling operation. But we use it on floor. When we use moveJ robot work fine. But when we use moveL robot move to unknown position. What should we do to make the system work properly. For details, I attached a video and file robodkproxy which we use.
video:https://drive.google.com/file/d/1vUEVseh...p=drivesdk
[url=https://drive.google.com/file/d/1vUEVsehaXRjdvGE2ArZ5Yq7Q8nj3I4Sg/view?usp=drivesdk][/url]robodkproxy:
Code:
DEF RoboDKsync33test()
INT io_id
INT j_id
INT program_id
BAS(#INITMOV,0)
PTP $AXIS_ACT
$ORI_TYPE = #VAR
$CIRC_TYPE = #BASE
$VEL.ORI1 = 200
$VEL.ORI2 = 200
$ACC.ORI1 = 100
$ACC.ORI2 = 100
$VEL.CP=3
$ACC.CP=10
$BASE = {FRAME: X 0,Y 0,Z 0,A 0,B 0,C 0}
$TOOL = {FRAME: X 0,Y 0,Z 0,A 0,B 0,C 0}
$ADVANCE = 0
COM_ROUNDM = -1
COM_ACTION = 0
COM_ACTCNT = 0
$APO.CPTP = 0
$APO.CDIS = 0
WHILE COM_ACTION >= 0
SWITCH COM_ACTION
CASE 1
;do nothing
COM_ACTCNT = COM_ACTCNT + 1
COM_ACTION = 0
CASE 2
IF COM_ROUNDM >= 0 THEN
PTP COM_E6AXIS C_PTP
ELSE
PTP COM_E6AXIS
ENDIF
COM_ACTION = 0
CASE 3
IF COM_ROUNDM >= 0 THEN
LIN COM_FRAME C_DIS
ELSE
LIN COM_FRAME
ENDIF
COM_ACTION = 0
CASE 4
IF COM_ROUNDM >= 0 THEN
CIRC COM_POS,COM_FRAME C_DIS
ELSE
CIRC COM_POS,COM_FRAME
ENDIF
COM_ACTION = 0
CASE 5
COM_ACTCNT = COM_ACTCNT + 1
$TOOL = COM_FRAME
COM_ACTION = 0
CASE 6
COM_ACTCNT = COM_ACTCNT + 1
$VEL.CP = COM_VALUE1
COM_ACTION = 0
CASE 7
COM_ACTCNT = COM_ACTCNT + 1
IF COM_VALUE1 > 0 THEN
$VEL.CP = COM_VALUE1
ENDIF
IF COM_VALUE2 > 0 THEN
;$VEL.ORI1 = COM_VALUE2
;$VEL.ORI2 = COM_VALUE2
FOR j_id=1 TO 6
IF COM_VALUE2 > 100 THEN
$VEL_AXIS[j_id] = 100
ELSE
$VEL_AXIS[j_id] = COM_VALUE2
ENDIF
ENDFOR
ENDIF
IF COM_VALUE3 > 0 THEN
$ACC.CP = COM_VALUE3
ENDIF
IF COM_VALUE4 > 0 THEN
;$ACC.ORI1 = COM_VALUE4
;$ACC.ORI2 = COM_VALUE4
FOR j_id=1 TO 6
IF COM_VALUE4 > 100 THEN
$ACC_AXIS[j_id] = 100
ELSE
$ACC_AXIS[j_id] = COM_VALUE4
ENDIF
ENDFOR
ENDIF
COM_ACTION = 0
CASE 8
COM_ACTCNT = COM_ACTCNT + 1
IF COM_ROUNDM >= 0 THEN
IF COM_ROUNDM > 100 THEN
$APO.CPTP = 100
ELSE
$APO.CPTP = COM_ROUNDM
ENDIF
$APO.CDIS = COM_ROUNDM
$ADVANCE = 1
ELSE
$APO.CPTP = 0
$APO.CDIS = 0
$ADVANCE = 0
ENDIF
COM_ACTION = 0
CASE 9
COM_ACTCNT = COM_ACTCNT + 1
WAIT SEC COM_VALUE1
COM_ACTION = 0
CASE 10
COM_ACTCNT = COM_ACTCNT + 1
io_id = COM_VALUE1
IF COM_VALUE2 > 0.5 THEN
$OUT[io_id] = TRUE
ELSE
$OUT[io_id] = FALSE
ENDIF
COM_ACTION = 0
CASE 11
PTP COM_E6AXIS
LIN COM_FRAME
WAIT SEC 0
COM_ACTION = 0
CASE 12
COM_ACTCNT = COM_ACTCNT + 1
io_id = COM_VALUE1
IF COM_VALUE2 > 0.5 THEN
WAIT FOR $IN[io_id]==TRUE
ELSE
WAIT FOR $IN[io_id]==FALSE
ENDIF
COM_ACTION = 0
CASE 13
;----- Run program COM_VALUE1 ---------
;(to trigger from RoboDK: use robot.RunCodeCustom("program id", INSTRUCTION_CALL_PROGRAM)
program_id = COM_VALUE1
SWITCH program_id
CASE 1
;-- run program 1 --
;钻()
;-------------------
CASE 2
;-- run program 2 --
;Cut()
;-------------------
ENDSWITCH
;--------------------------------------------
COM_VALUE1 = 0
COM_ACTION = 0
;DEFAULT
;COM_ACTION = 0
ENDSWITCH
ENDWHILE
END
