Robot-Forum – Global Community for Industrial Robots & Cobots

[…] Thank you. Could you please explain further? Thank you so much.

If I understand correctly, you want the current position of the robot in pulse coordinates. correct? Then you can use the GETS Instruction. See the documentation here: https://www.motoman.com/getmedia/786c64c3-7824-4153-8f51-343e07f8a549/181276-1CD#page=191 For example: GETS PX000 $PX000 => this stores the current pulse position ($PX000) into P000. So if it is possible in your situation, you can do the following procedure to convert your XYZ positions to pulse positions: 1. Move the…

Check the interbus cables on KPS. It might looks good but try measuring them. Similar problem: Kuka Krc2 need help urgently [URL:https://www.robot-forum.com/robotforum/thread/18068-kuka-krc2-need-help-urgently/]

[…] Thank you! Would you perhaps know how can we read and write pose type through the JOB?

I just asked the AI about your problem. Sounds plausible to me. But no guarantees... This is a classic and notoriously frustrating issue when transitioning from single-robot programming to coordinated motion on the YRC1000. Understanding the Coordinated Shift Problem When you perform Touch Sensing with a single robot (R1), the calculated shift is typically stored in the Base Frame (BF) or Robot Frame (RF). However, when you coordinate with a station axis (S3), the robot's target positions…

[…] The robot moves strange, he can't do the 'egypt style' movement anymore (in manual mode select world coord system, and move axis 7, TCP stands still while axis moves). The transformation is faulty and robot can't do correct linear movements when axis 7 is used. The world system is some kind of scrambled.

No a conversion to pulse is not possible with cnvrt. Only BF, RF, TF, UF and MTF are possible.

Look https://forum.newwelding.pl/ Maybe you'll find something on this fairino forum

but... why are out using SPTP inside spline block? in a spline use SPL. SPTP is a crutch, it is literally the last added motion type and it is only added for one very specific reason - to not have to use PTP for BCO. that is it...! it was meant as a standalone motion to replace pair of PTP motions in program template. SPTP is not faster than regular PTP, it is not better in path accuracy, it is not dominant in any benchmark... the only reason for its entire existence is to have "PTP like"…

what does that type of machine have to do with current forum (cobots)? i have done programming on bunch of robots in one such factory but those were large robots, not slow moving cobots.

[…] Protip: The KSS version is more important than either the robot model or KRC model. What deviations are you seeing? How are you measuring them? Are you checking accuracy, or repeatability? If you're measuring for accuracy, and seeing sub-mm deviations, that's just normal. The attached PDF is for a KR60HA, a robot optimized for accuracy, and even it only has about a 0.7mm accuracy rating. In general terms, you can expect a roughly 10x factor of accuracy over repeatability. You can…

[…] Simple answer,No not with smooth motion. But perhaps if you can explain why you need this and what kind of deviations are not acceptable for you (be specific), there are some smarter people here who might have a better idea. Without knowing what your application is or what your permissible deviation it is hard to give advice, but i would still like to mention 2 things: 1. Robots are not great at absolute accuracy, but there repeatability is something you can work with. So if your work…

Hi everyone, I'm working on a project where I need a KUKA KR 4 R 600 manipulator (KRC5) to follow a pre-computed joint-space trajectory with 417 points as precisely as possible — ideally passing through each point exactly, without the controller smoothing or correcting the path. Setup I define the trajectory in a .dat file as an array of E6AXIS: (Code, 6 lines) In the .src file I use PTP_SPLINE: (Code, 10 lines) Problem The controller applies its own interpolation/smoothing, so the robot…

Oh that definitely looks bad. I remember having a similar issue with my CS8C in the past. I remember solving it via connection to the VxWorks on it, which is the underlining operating system on Staubli robots, via serial interface, then successfully assigning IP address to the controller and performing val3 and starc update, it fixed it for us.

Hello, We have an old motoman nx100 which we like to learn some new tricks. Unfortunately he doesn’t work, servo ready keeps on blinking, something prevents it from turning on. We tried to changing cable and teachpendant, but nothing worked. What else can we do? Who can help?? Thanks Gilbert

in addition to post #7... (KOP files): working with robots one can collect a lot of KOP files. but having them does not means it is legal to use them. one can only legally use them when owning the license. license info is normally shown inside KRC. for example following image clearly shows that this robot has license for Gripper+Sport tech version 3.0. using other versions (like 3.1, or 3.2) would be violation.

each axis on the robot or linear rail has positive direction marked. so before you jog that axis, you can look it up and be sure which way the robot will move if you press JOG+ or JOG-. Usually such info is part of the casting but in some cases like linear rails, it could be a sticker. those +/- directions are what you see in WoV when choosing robot orientation. Note, if the KL rail has stickers showing contradictory info, that is not mistake, you just need to remove one that is…

KOP files can have different functionality. one of them is plugins for WoV (and reason for integration into WoV). but not all KOPs have it all so depending on product, deployment/installation onto KRC may be done differently, etc. WoV project contains all that makes robot system tick... programs, robot and controller MADA, IO configuration, IO mapping, tools and bases, safety configuration etc. changing robot orientation on the rail and clicking compile will modify robot MADA. you can do it…

have a PC where WorkVisual is installed... this will also create associations with KOP files (for your Windows Explorer). then simply using Windows Explorer, navigate to KOP file and doubleclick on it. you will get window with detailed info such as: