cancel
Showing results for 
Search instead for 
Did you mean: 

KUKA Upload Problem or Question

PLM World Member Phenom PLM World Member Phenom
PLM World Member Phenom

hello from munich,

 

i have a project with kuka on ext. axes.

lot of positions have ext. axes values.

but one or two location dosen't have these values. (this is correct, the robot don't check the ext. axes on this position)

 

Process Simulate have problem to upload these robot path.

 

with this line it works correctly.

DECL GLOBAL E6AXIS GRNDSTELLUNG={A1 35.4615021,A2 -94.8624115,A3 97.7405167,A4 -24.6308613,A5 -3.44049644,A6 -59.07724,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}

 

without ext. value ps can not upload the path.

DECL GLOBAL E6AXIS GRNDSTELLUNG={A1 35.4615021,A2 -94.8624115,A3 97.7405167,A4 -24.6308613,A5 -3.44049644,A6 -59.07724}

 

why is this behavior?

Kind regards,

Benjamin Voelzke
2 REPLIES

Re: KUKA Upload Problem or Question

Siemens Phenom Siemens Phenom
Siemens Phenom

What is the error that you get? I tried with a robot + servo gun as follow:

1) download a path with 3 locations

2) on the second location, remove the E1...E6 section

 

DECL E6POS Xlx1={X 1945.94,Y 435.15,Z 1493,A 0,B 90,C 77.395,E1 50,E2 0,E3 0,E4 0,E5 0,E6 0}
DECL E6POS Xlx3={X 1093.86,Y 1342.22,Z 1340,A -39.185,B -89.95,C -179.994}
ECL E6POS Xlx2={X 1985.57,Y -183.19,Z 1493,A 0,B 90,C 95.271,E1 30,E2 0,E3 0,E4 0,E5 0,E6 0}

3) upload: no problem

Process Simulate 12.jpg

Re: KUKA Upload Problem or Question

PLM World Member Valued Contributor PLM World Member Valued Contributor
PLM World Member Valued Contributor

this is the string of robot backup

 

 

DECL AXIS XKAMERA_POS={A1 12.86695,A2 -105.143204,A3 132.268906,A4 -1.25964296,A5 61.3931694,A6 -174.208893}
DECL FDAT FKAMERA_POS={TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL PDAT PPDAT6={VEL 100.0,ACC 100.0,APO_DIST 100.0,GEAR_JERK 50.0}

 

 

i change these code to

 

DECL AXIS XKAMERA_POS={A1 12.86695,A2 -105.143204,A3 132.268906,A4 -1.25964296,A5 61.3931694,A6 -174.208893 ,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL FDAT FKAMERA_POS={TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL PDAT PPDAT6={VEL 100.0,ACC 100.0,APO_DIST 100.0,GEAR_JERK 50.0}

 

 

ps create a api error.

 

kuka_upload_error.jpg