[Mehrandinio]

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

[Olivier]

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

[Mehrandinio]

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}

[Jeremy]

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

[Mehrandinio]

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

[Jeremy]

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

[Mehrandinio]

thank you jeremy