Thanks a lot for this quick answer Johannes
I send you email for temporary licence
Francis
I send you email for temporary licence
Francis
This section allows you to view all posts made by this member. Note that you can only see posts made in areas you currently have access to.
Pages1
#2
Support / A4 flip and other problems
January 29, 2016, 08:39:41 PM
Hi Johannes
I'm pretty new to kuka prc and robots (we have just bought an agilus KR 10 900), but I have read most of the posts of this forum, especially the topic about synchronization; so the tool and the base XYZABC values are correct (same in simulation and reality). But I get the same issue than other people do with the 4th axis; it is correct in the simulation but for some reason A4 flips in reality, so the robot reaches some soft limit along the path.
Even when I change the initial status to 010 in kuka prc (that flips 4th axis in the simulation and adds S 'B 010' in the first PTP movement), nothing happens in reality, A4 still flips... What I'm doing wrong ??
Other question : I have a problem with the spline component. I have tried your "spline_circle" example file (the spline part). The src program produced by kuka prc has a C-DIS in the first line of the spline points coordinates; the smartpad finds an error : "smoothing not allowed in spline". If I supress manually C_DIS the smartpad accepts the file and the program works.
Last question !! It is about the limitation of 6th axis ; by default the limitation are set from -350 to 350° on the smartpad ; in kuka prc they are set at +-360° ; can I change the values on the smartpad without any problem, assuming that on agilus there is no physical limit on A6 ?? (I guess this is more a question for kuka)
Thanks a lot for your clear advices !
I'm using public version of kuka prc – 06/03/2015
Best regards
Francis
I'm pretty new to kuka prc and robots (we have just bought an agilus KR 10 900), but I have read most of the posts of this forum, especially the topic about synchronization; so the tool and the base XYZABC values are correct (same in simulation and reality). But I get the same issue than other people do with the 4th axis; it is correct in the simulation but for some reason A4 flips in reality, so the robot reaches some soft limit along the path.
Even when I change the initial status to 010 in kuka prc (that flips 4th axis in the simulation and adds S 'B 010' in the first PTP movement), nothing happens in reality, A4 still flips... What I'm doing wrong ??
Other question : I have a problem with the spline component. I have tried your "spline_circle" example file (the spline part). The src program produced by kuka prc has a C-DIS in the first line of the spline points coordinates; the smartpad finds an error : "smoothing not allowed in spline". If I supress manually C_DIS the smartpad accepts the file and the program works.
Last question !! It is about the limitation of 6th axis ; by default the limitation are set from -350 to 350° on the smartpad ; in kuka prc they are set at +-360° ; can I change the values on the smartpad without any problem, assuming that on agilus there is no physical limit on A6 ?? (I guess this is more a question for kuka)
Thanks a lot for your clear advices !
I'm using public version of kuka prc – 06/03/2015
Best regards
Francis
Pages1