Hello,
I am having some problems with my KR16-2 KRC4 (KS V8.2) Robot. Initially, any moveL commands will cause the robot to drift and collide with itself, while moveJ worked fine. I noticed that the Base was not changing to 1 on the HMI.
I followed the instructions under RoboDK driver for Kuka:KUKA robots - RoboDK Documentationand updated the robodk driver and sync code.
The values and numbers for tool and base in the controller and software are matching andProvide Cartesian coordinates with respect to the reference is enabled.
Unfortunately the problem persisted, the base remained at 0 (nullframe).
I tried variations of the robodksync542 code as follows:
$BASE = {FRAME: X 0,Y 0,Z 0,A 0,B 0,C 0}
$BASE = BASE_DATA[1]
bas(#base, 1)
Of these three,bas(#base, 1)worked to change the base to 1 and"Provide Cartesian coordinates with respect to the reference"must be enabled.bas(#tool, 1)must be set too.
The robot does not drift anymore, however, all machining projects are fixed to the origin of the base. If I move the curve, the robot ignores the offset and conducts the machining at the origin.
Also, I had to comment out "DECL中断5美元在[1]做概率eTriggered()" on the robodksynce542 codeas I receive an "illegal or unknown block" error on the HMI.
Please advise if there is a solution for the problems listed.
Thanks for your support, Kind Regards, Daniel.
I am having some problems with my KR16-2 KRC4 (KS V8.2) Robot. Initially, any moveL commands will cause the robot to drift and collide with itself, while moveJ worked fine. I noticed that the Base was not changing to 1 on the HMI.
I followed the instructions under RoboDK driver for Kuka:KUKA robots - RoboDK Documentationand updated the robodk driver and sync code.
The values and numbers for tool and base in the controller and software are matching andProvide Cartesian coordinates with respect to the reference is enabled.
Unfortunately the problem persisted, the base remained at 0 (nullframe).
I tried variations of the robodksync542 code as follows:
$BASE = {FRAME: X 0,Y 0,Z 0,A 0,B 0,C 0}
$BASE = BASE_DATA[1]
bas(#base, 1)
Of these three,bas(#base, 1)worked to change the base to 1 and"Provide Cartesian coordinates with respect to the reference"must be enabled.bas(#tool, 1)must be set too.
The robot does not drift anymore, however, all machining projects are fixed to the origin of the base. If I move the curve, the robot ignores the offset and conducts the machining at the origin.
Also, I had to comment out "DECL中断5美元在[1]做概率eTriggered()" on the robodksynce542 codeas I receive an "illegal or unknown block" error on the HMI.
Please advise if there is a solution for the problems listed.
Thanks for your support, Kind Regards, Daniel.