kukavarproxy

[luigipachecoFIU]

Hello!

I am looking into moving our kuka robot with kukavar proxy.

I am able to create and change variables with python without an issue,

my question is related to the program that the robot itself has to run, i found this paper that shows a very minimal code to move the robot  i want to test and move the robot a "small" distance to make sure everything is find, but I see the velocity speed is set to 100%, wich sounds too fast for me.

I wanted to ask here about any advice before testing if anyone has any experience using KUKAvarproxy.And check if the program is "safe" to run.

paper:
http://filipposanfilippo.inspitivity.com/publications/controlling-kuka-industrial-robots-flexible-communication-interface-jopenshowvar.pdf

code:

Code Select Expand

DEF ACTUATOR()
INI
PTP HOME Vel = 100 % DEFAULT
$ADVANCE=1
LOOP
PTP_REL MYPOS C_PTP
ENDLOOP
PTP HOME Vel = 100 % DEFAULT
END

[Johannes @ Robots in Architecture]

Hello,

The KRL code contains some inline-forms, so there is no way to know what's inside really. Typing that directly won't work, you'd need to teach a file with two PTP movements and then put the new code in the middle. Maybe the author only used it in T1 where the speed is reduced.

With the posted KRL code you won't get a smooth movement, the robot will stop after every position.

Best,
Johannes

[luigipachecoFIU]

Thanks for clarifying,

I will try to give it a test and adjust the code.

I will try to install MXA again... might be easier .