Hallo zusammen,
Wir haben einen KUKA CR4 mit KSS 8.6 Projekt.
ich wollte die Momentbetrieb beschränken ,damit der Kuka Roboter nicht über unsere Teile (Werkstück) fahren kann.
im Anhang ist meine Code ,wie in der Anleitung.
ich habe die Kraft gemessen ,die ist über 60 N leider .
kann man unter 10 N kriegen ?
natürlich habe ich mit der Werte gespielt und nicht verbessern .
Code
DEF kraft( )
DECL TorqLimitParam myLimits
DECL INT i
;FOLD INI;%{PE}
;FOLD BASISTECH INI
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
BAS (#INITMOV,0 )
;ENDFOLD (BASISTECH INI)
;FOLD USER INI
;Make your modifications here
;ENDFOLD (USER INI)
;ENDFOLD (INI)
;FOLD SPTP HOME Vel=100 % DEFAULT ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=HOME; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=DEFAULT; Kuka.VelocityPtp=100; Kuka.VelocityFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
;ENDFOLD
SPTP XHOME WITH $VEL_AXIS[1] = SVEL_JOINT(100.0), $TOOL = STOOL2(FHOME), $BASE = SBASE(FHOME.BASE_NO), $IPO_MODE = SIPO_MODE(FHOME.IPO_FRAME), $LOAD = SLOAD(FHOME.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PDEFAULT), $APO = SAPO_PTP(PDEFAULT), $GEAR_JERK[1] = SGEAR_JERK(PDEFAULT), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
;ENDFOLD
FOR i = 1 to 6
myLimits.lower = $holding_torque[i] -500
myLimits.upper = $holding_torque[i] +500
myLimits.monitor = #off
myLimits.max_lag = 0.1
SET_TORQUE_LIMITS(i, myLimits)
ENDFOR
;FOLD PTP P6 Vel=10 % PDAT2 Tool[1]:toolmuster Base[0] ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=P6; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT2; Kuka.VelocityPtp=10; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
;ENDFOLD
$BWDSTART = FALSE
PDAT_ACT = PPDAT2
FDAT_ACT = FP6
BAS(#PTP_PARAMS, 10.0)
SET_CD_PARAMS (0)
PTP XP6
;ENDFOLD
i = 1
myLimits.lower = -1E10
myLimits.upper = 1
myLimits.monitor = #on
SET_TORQUE_LIMITS(i, myLimits)
i = 4
myLimits.lower = -1E10
myLimits.upper = 1
myLimits.monitor = #on
SET_TORQUE_LIMITS(i, myLimits)
i = 5
myLimits.lower = -1E10
myLimits.upper = 1
myLimits.monitor = #on
SET_TORQUE_LIMITS(i, myLimits)
i = 6
myLimits.lower = -1E10
myLimits.upper = 3
myLimits.monitor = #on
SET_TORQUE_LIMITS(i, myLimits)
;FOLD LIN P4 Vel=0.01 m/s CPDAT3 Tool[1]:toolmuster Base[0] ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=P4; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT3; Kuka.VelocityPath=0.01; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
;ENDFOLD
$BWDSTART = FALSE
LDAT_ACT = LCPDAT3
FDAT_ACT = FP4
BAS(#CP_PARAMS, 0.01)
SET_CD_PARAMS (0)
LIN XP4
;ENDFOLD
;FOLD SLIN P5 Vel=0.2 m/s CPDAT4 Tool[1]:toolmuster Base[0] ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=P5; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT4; Kuka.VelocityPath=0.2; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SLIN
;ENDFOLD
SLIN XP5 WITH $VEL = SVEL_CP(0.2, , LCPDAT4), $TOOL = STOOL2(FP5), $BASE = SBASE(FP5.BASE_NO), $IPO_MODE = SIPO_MODE(FP5.IPO_FRAME), $LOAD = SLOAD(FP5.TOOL_NO), $ACC = SACC_CP(LCPDAT4), $ORI_TYPE = SORI_TYP(LCPDAT4), $APO = SAPO(LCPDAT4), $JERK = SJERK(LCPDAT4), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
;ENDFOLD
;FOLD PTP P3 Vel=10 % PDAT1 Tool[1]:toolmuster Base[0] ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=P3; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=PDAT1; Kuka.VelocityPtp=10; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
;ENDFOLD
$BWDSTART = FALSE
PDAT_ACT = PPDAT1
FDAT_ACT = FP3
BAS(#PTP_PARAMS, 10.0)
SET_CD_PARAMS (0)
PTP XP3
;ENDFOLD
END
