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Error at program generate robot program
#1
hello dears
i using Example-07.d-Drawing with a robot to draw with my robot
i was change ABB robot to KUKA robot in this example.
when i want generate program this error shown.
excuse me about my poor english


Attached Files Thumbnail(s)
   
#2
The KRC2 doesn't support linear moves with a joint target.
You can modify the target type to cartesian.

Another option is to force the target export in cartesian mode by going in Tools->Options->Program->Output for linear movements->Cartesian data
#3
thank your very much
when i generate program and run on robot . robot movement not smooth and run per line and stop and go next line.
what can i do to robot move smooth.
example generated program :
PTP {A1 -3.28779,A2 -81.13710,A3 88.65000,A4 0.00000,A5 82.48710,A6 -3.28779,E1 0.00000}
PTP {A1 -3.30524,A2 -81.67510,A3 89.24910,A4 0.00000,A5 82.42600,A6 -3.30524,E1 0.00000}
PTP {A1 -3.32289,A2 -82.21310,A3 89.84440,A4 0.00000,A5 82.36870,A6 -3.32289,E1 0.00000}
PTP {A1 -3.34072,A2 -82.75120,A3 90.43600,A4 0.00000,A5 82.31520,A6 -3.34072,E1 0.00000}
PTP {A1 -3.35875,A2 -83.28940,A3 91.02390,A4 0.00000,A5 82.26550,A6 -3.35875,E1 0.00000}
PTP {A1 -3.37697,A2 -83.82780,A3 91.60830,A4 0.00000,A5 82.21950,A6 -3.37697,E1 0.00000}
PTP {A1 -3.39539,A2 -84.36650,A3 92.18900,A4 0.00000,A5 82.17740,A6 -3.39539,E1 0.00000}
PTP {A1 -3.41401,A2 -84.90540,A3 92.76630,A4 0.00000,A5 82.13910,A6 -3.41401,E1 0.00000}
PTP {A1 -3.43284,A2 -85.44480,A3 93.34020,A4 0.00000,A5 82.10460,A6 -3.43284,E1 0.00000}
PTP {A1 -3.45187,A2 -85.98450,A3 93.91060,A4 0.00000,A5 82.07390,A6 -3.45187,E1 0.00000}
PTP {A1 -3.47112,A2 -86.52480,A3 94.47770,A4 0.00000,A5 82.04710,A6 -3.47112,E1 0.00000}
PTP {A1 -3.49058,A2 -87.06550,A3 95.04140,A4 0.00000,A5 82.02410,A6 -3.49058,E1 0.00000}
PTP {A1 -3.51026,A2 -87.60690,A3 95.60200,A4 0.00000,A5 82.00490,A6 -3.51026,E1 0.00000}
PTP {A1 -3.53017,A2 -88.14890,A3 96.15930,A4 0.00000,A5 81.98970,A6 -3.53017,E1 0.00000}
PTP {A1 -3.55030,A2 -88.69170,A3 96.71340,A4 0.00000,A5 81.97830,A6 -3.55030,E1 0.00000}
PTP {A1 -3.57066,A2 -89.23510,A3 97.26430,A4 0.00000,A5 81.97080,A6 -3.57066,E1 0.00000}
PTP {A1 -3.59126,A2 -89.77940,A3 97.81220,A4 0.00000,A5 81.96720,A6 -3.59126,E1 0.00000}
PTP {A1 -3.61210,A2 -90.32460,A3 98.35700,A4 0.00000,A5 81.96760,A6 -3.61210,E1 0.00000}
PTP {A1 -3.63317,A2 -90.87070,A3 98.89880,A4 0.00000,A5 81.97200,A6 -3.63317,E1 0.00000}
PTP {A1 -3.65450,A2 -91.41780,A3 99.43750,A4 0.00000,A5 81.98030,A6 -3.65450,E1 0.00000}
PTP {A1 -3.67608,A2 -91.96590,A3 99.97330,A4 0.00000,A5 81.99260,A6 -3.67608,E1 0.00000}
PTP {A1 -3.69791,A2 -92.51510,A3 100.50600,A4 0.00000,A5 82.00890,A6 -3.69791,E1 0.00000}
PTP {A1 -3.72000,A2 -93.06540,A3 101.03600,A4 0.00000,A5 82.02930,A6 -3.72000,E1 0.00000}
PTP {A1 -3.74236,A2 -93.61690,A3 101.56300,A4 0.00000,A5 82.05370,A6 -3.74236,E1 0.00000}
PTP {A1 -3.76499,A2 -94.16960,A3 102.08700,A4 0.00000,A5 82.08230,A6 -3.76499,E1 0.00000}
PTP {A1 -3.78790,A2 -94.72360,A3 102.60900,A4 0.00000,A5 82.11500,A6 -3.78790,E1 0.00000}
PTP {A1 -3.81108,A2 -95.27900,A3 103.12700,A4 0.00000,A5 82.15180,A6 -3.81108,E1 0.00000}
PTP {A1 -3.83455,A2 -95.83570,A3 103.64300,A4 0.00000,A5 82.19280,A6 -3.83455,E1 0.00000}
#4
Run on robot does not allow smooth motion as a handshake is required between the controller and the computer for safety reasons.

To create smooth motion you must generate the .src file and load it on the controller.

Jeremy
Find useful information about RoboDK and its features by visiting our Online Documentation and by watching tutorials on our Youtube Channel


#5
(03-08-2022, 07:06 PM)Jeremy Wrote: Run on robot does not allow smooth motion as a handshake is required between the controller and the computer for safety reasons.

To create smooth motion you must generate the  .src file and load it on the controller.

Jeremy

hi
i was generate the .src file and load it on the controller but codes not run smooth and robot stop per line and move to next line
#6
Did you add a rounding?
By default the generated program will use "accurate" position. Meaning the robot will stop at each point.

https://drive.google.com/drive/folders/1...CCTdy-p7GW
Look for the excel sheet

Video:
Module 7 - Video 8
Module 10 - Video 7
Find useful information about RoboDK and its features by visiting our Online Documentation and by watching tutorials on our Youtube Channel


#7
thank you jeremy
  




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