Messages

Hi Johannes,

Thanks a lot.

Are there examples in KUKA|prc where custom Softkey-Dialogs were implemented as part of a ROB-procedure (via $MSG_T ?) – e.g. to have the user decide whether to increase the loop count or not and therefore repeat the last or go for the next iteration?

With a snippet like the following:

;-------- Softkey Dialog --------
DECL INT ANSW
DECL BOOL REPEAT_THIS

      $MSG_T.VALID   = FALSE
      $MSG_T.RELEASE = FALSE
      $MSG_T.TYP     = #DIALOG
      $MSG_T.KEY[]   = "Loop finished"
      $MSG_T.DLG_FORMAT[] = "0 Repeat|1 Next"
      $MSG_T.ANSWER  = 0

      $MSG_T.VALID = TRUE
      WAIT FOR ($MSG_T.VALID == FALSE)

      ANSW = $MSG_T.ANSWER
      IF ANSW == 1 THEN
         ; 0 Repeat -> repeat same iteration, n=n
         REPEAT_THIS = TRUE
      ELSE
         ; 1 Next -> next iteration, n=n+1
         REPEAT_THIS = FALSE
      ENDIF

Hello,

Is there an easy way to use KRL-conditions (IF, SWITCH / CASE,...) and loops (FOR, WHILE, REPEAT,...) in KUKA|prc?

Simple example:
I want to run a series of LIN motions n times through a FOR-loop with counter variable and increase the Z-coordinates of each LIN per iteration (e.g. P.Z = n*100).

Thanks a lot!

Hi Johannes,
Awesome, thanks a lot for checking – this already helps a lot and I'll try this approach!

Best regards and have a good rest of the week!

Hi Johannes,

Thanks a lot for the feedback!

It would be very helpful to have a robot component for a KR 500 available – even a simplified one but with an accurate kinematic model.
For now, I could mesh the KR500 570-2 myself though.

In case I create the robot meshes myself and define the axis values/speeds from KUKA specs in a Custom Robot component, is the Custom Robot component's kinematic model per se robust enough compared to a "proper" KUKA|prc robot component or how could it differ?

Also, would there be example files or some documentation / best practices available on creating Custom Robot components?

Thanks a lot & best regards!

Hello,

As I might need to work with two KR 500 570-2 PA (built 07/2007) I was wondering if this model is supported because I didn't find it amongst the Virtual Robot components.
Is there a way to work with that KR model using KUKA|prc?

Thanks a lot!