08-09-2021, 12:06 PM
Robot programming is not my area of expertise so please excuse my ignorance, I just need to figure out the correct setup from a piece of software to create output for a KUKA KR 150 L110 for a single job, I'll probably never use KRL again.
I have a working piece of code as an example in which the workpiece is being manipulated and the tool fixed.
$IPO_MODE = #TCP
which (I believe) means the positions supplied to the robot are of the $BASE relative to the $TOOL in the $TOOL system.
In those parts of the programme that actually execute in RobotDK the $TOOL is definitely being positioned in the $BASE system rather than vice-verca.
I can't see any difference when I run the programme in RobotDK between using #TCP and #BASE and I can't see anywhere in the UI that this has any effect. Is there a setting somewhere in RobotDK where $IPO_MODE should be set.
$BASE = {X -900, Y 1500, Z 1240, A 90, B 90, C 0}
$IPO_MODE = #TCP
PTP {X 184.2, Y -166.7, Z -242.00, A -6.36, B -0.00, C 135.00}
LIN {X 184.2, Y -166.7, Z -242.00, A -6.36, B -0.00, C 135.00}
WAIT SEC 1
LIN {X 184.2, Y -166.7, Z -242.00, A -6.36, B -0.00, C 135.00} C_DIS
LIN {X 179.8, Y -97.4, Z -183.35, A 31.50, B -27.76, C 90.00} C_DIS
I have a working piece of code as an example in which the workpiece is being manipulated and the tool fixed.
$IPO_MODE = #TCP
which (I believe) means the positions supplied to the robot are of the $BASE relative to the $TOOL in the $TOOL system.
In those parts of the programme that actually execute in RobotDK the $TOOL is definitely being positioned in the $BASE system rather than vice-verca.
I can't see any difference when I run the programme in RobotDK between using #TCP and #BASE and I can't see anywhere in the UI that this has any effect. Is there a setting somewhere in RobotDK where $IPO_MODE should be set.
$BASE = {X -900, Y 1500, Z 1240, A 90, B 90, C 0}
$IPO_MODE = #TCP
PTP {X 184.2, Y -166.7, Z -242.00, A -6.36, B -0.00, C 135.00}
LIN {X 184.2, Y -166.7, Z -242.00, A -6.36, B -0.00, C 135.00}
WAIT SEC 1
LIN {X 184.2, Y -166.7, Z -242.00, A -6.36, B -0.00, C 135.00} C_DIS
LIN {X 179.8, Y -97.4, Z -183.35, A 31.50, B -27.76, C 90.00} C_DIS
