[singular]

RoboDK v5.7.3 64 bit on Windows with KUKA_KRC5.py (`SPLINE_BLOCK = True`) generates an illegal PTP instruction in SPLINE block for KUKA KR16 1610 from a program ending in MoveJ after MoveL:

Code:

...
SPLINE WITH $VEL.CP = 0.5
SPL {X 729.855,Y 63.993,Z 613.688,A 180.000,B 20.730,C -180.000,E1 0.00000}
PTP {A1 10.09590,A2 -76.17120,A3 121.71200,A4 -8.68238,A5 24.27020,A6 17.37970,E1 0.00000}
ENDSPLINE
END

[Albert]

Can you send us the RoboDK project file you used to generate the program attached?

Did you just modify the sppline block variable?

[singular]

Sorry, I can't read the file so I'd rather not post it. Instead a screenshot of the Station and its program (two points only).
And yes.

[Sergei]

You can enable the output of spline motion commands with the keywords 'start_spl' and 'end_spl' using the KUKA KRC4 postprocessor.

   

In general, multiple points are required to build a spline.
Try not to include MoveJ in such position sequences.

[singular]

Thanks for getting back to me so quickly!
Did you mean the KRC5 post processor? 

This section hasn't been updated yet:

Code:

    # Set KRC Version (2 or 4)
    # Version 2 for KRC2 controllers or Version 4 for KRC4
    # KRC_VERSION = 2  # for KRC2 controllers
    KRC_VERSION = 5    # for KRC4 controllers

Code:

    # Define the move linear keyword (usually LIN)
    # Other examples: SLIN, SPL (use a Spline Block, ...
    # Tip: Add a comment such as start_spl, start_lin or start_slin to change the move command
    LIN_KEYWORD = "LIN"

That's a bit ambiguous vs. SPLINE_BLOCK. How would I add such a comment and is SCIRC supported as well? By pure chance I just found that a comment is a modified "Program Call Instruction", and it appears it is not supported:

Code:

PTP {A1 10.09590,A2 -76.17120,A3 121.71200,A4 -8.68238,A5 24.27020,A6 17.37970,E1 0.00000}
; start_spl
SPLINE WITH $VEL.CP = 0.5
SPL {X 729.855,Y 63.993,Z 613.688,A 180.000,B 20.730,C -180.000,E1 0.00000}
; start_scirc
ENDSPLINE
CIRC {X 730.549,Y 279.507,Z 719.515,A 180.000,B 20.730,C -180.000},{X 566.814,Y 497.561,Z 714.310,A 180.000,B 20.730,C -180.000,E1 0.00000}
; end_spl
PTP {A1 10.09590,A2 -76.17120,A3 121.71200,A4 -8.68238,A5 24.27020,A6 17.37970,E1 0.00000}
END

How to insert a CONST_VEL block? I can't find any of those in the documentation. What license is required for access to the post processor sources?

TBH, I'm a bit disappointed that Kuka support does not seem up to date ("RoboDK supports all KUKA robot controllers since KRC2, including KUKA KRC3 and KRC4 controllers. This documentation is based on a KRC4 controller."). On the other hand, you do not seem to claim to support KRC5 ;-)
And admittedly, their Splines are a little tricky to use.
But as it stands now, it seems I'll have to keep generating my own KRL.

Are you using the Kuka module for the simulation / dynamics? I have not found anything about load data in the software.

One last thing, when changing GUI language, not all menu entries or panels are updated.

Another last thing:
The post processor page https://robodk.com/post/KUKA-KRC5 either generates the wrong link or the Post Processor Library at https://robodk.com/posts does not interpret it correctly (case sensitivity?).

Have a good day!

[Sergei]

Did you mean the KRC5 post processor?

I was referring to the KRC4 postprocessor.
KRC4 and KRC5 are based on the KRC2 postprocessor, in which the spline function was originally implemented.
 

How would I add such a comment and is SCIRC supported as well?

It is necessary to use the Program Call instruction as in the example in the screenshot from my previous post.
SCIRC is not supported but can be implemented by modifying the postprocessor.

How to insert a CONST_VEL block?

You can add the output of any special code by using the Insert Code option in the Program Call instruction.

What license is required for access to the post processor sources?

Please contact us at https://robodk.com/contact or by using the Help - Request support in RoboDK.

TBH, I'm a bit disappointed that Kuka support does not seem up to date ("RoboDK supports all KUKA robot controllers since KRC2, including KUKA KRC3 and KRC4 controllers. This documentation is based on a KRC4 controller."). On the other hand, you do not seem to claim to support KRC5 ;-)

For splines, you can also use the KUKA KRC5 postprocessor with the keywords 'start_spl' / 'end_spl' in the added Program Call instruction.

Are you using the Kuka module for the simulation / dynamics? I have not found anything about load data in the software.

We do not use such a module. But if you have RRS/RCS modules for Kuka, we can try to integrate them.
https://robodk.com/doc/en/RRS.html#RRS

The post processor page https://robodk.com/post/KUKA-KRC5 either generates the wrong link or the Post Processor Library at https://robodk.com/posts does not interpret it correctly (case sensitivity?).

Could you please clarify what is wrong with this link?

[singular]

> Could you please clarify what is wrong with this link?

Sorry, I meant that the "KUKA KR C5" tag / label / link in "Controllers" does not appear to properly link to the library with that tag as filter enabled, as intended (https://robodk.com/posts#filter?controller=kuka-kr-c5 works, but the actual link fails and redirects and ends up at https://robodk.com/posts#).

Thanks for your help!

[Albert]

Thank you for reporting this issue. We'll be fixing it in the next few days.