Hello Community,
I need help on the following topic:
Data:
Robot: KUKA KR5 850 Sixx Control:
KRC2 v7.0.14
Software: V7.0.14
*dat with RoboDK Postprocessor (KUKA KRC2 DAT):
&ACCESS RVP
&REL 1
&COMMENT Generated by RoboDK
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM EDITMASK = *
DEFDAT Abwurf
EXT BAS (BAS_COMMAND :IN,REAL :IN )
DECL E6AXIS XP1={A1 -68.76060,A2 -84.37770,A3 124.35600,A4 0.00000,A5 50.02190,A6 -113.76100}
DECL FDAT FP1={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 1.000,APO_MODE #CPTP}
ENDDAT
*dat with Controller: KRC2 v7.0.14 (teach)
DEFDAT ABWURF
;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P
EXT BAS (BAS_COMMAND :IN,REAL :IN )
DECL INT SUCCESS
;ENDFOLD (BASISTECH EXT)
;FOLD USER EXT;%{E}%MKUKATPUSER,%CEXT,%VEXT,%P
;Make here your modifications
;ENDFOLD (USER EXT)
;ENDFOLD (EXTERNAL DECLERATIONS)
DECL E6POS XP1={X 200.0,Y 0.0,Z 50.0,A -90.0,B 0.0,C -180.0,S 2,T 3,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL BASIS_SUGG_T LAST_BASIS={POINT1[] "HOME1 ",POINT2[] "HOME1 ",CP_PARAMS[] "CPDAT0 ",PTP_PARAMS[] "DEFAULT ",CONT[] " ",CP_VEL[] "0.8 ",PTP_VEL[] "50 ",SPL_NAME[] "S0 "}
DECL FDAT FP1={TOOL_NO 1,BASE_NO 6,IPO_FRAME #BASE,POINT2[] " "}
DECL PDAT PPDAT1={VEL 100.0,ACC 100.0,APO_DIST 100.0}
DECL FDAT FHOME1={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
ENDDAT
How can I set up the output from the post processor in RoboDK ???
not: DECL E6AXIS XP1={}
but: DECL E6POS XP1={}
Thank you in advance for your effort!
Oliver
I need help on the following topic:
Data:
Robot: KUKA KR5 850 Sixx Control:
KRC2 v7.0.14
Software: V7.0.14
*dat with RoboDK Postprocessor (KUKA KRC2 DAT):
&ACCESS RVP
&REL 1
&COMMENT Generated by RoboDK
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM EDITMASK = *
DEFDAT Abwurf
EXT BAS (BAS_COMMAND :IN,REAL :IN )
DECL E6AXIS XP1={A1 -68.76060,A2 -84.37770,A3 124.35600,A4 0.00000,A5 50.02190,A6 -113.76100}
DECL FDAT FP1={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 1.000,APO_MODE #CPTP}
ENDDAT
*dat with Controller: KRC2 v7.0.14 (teach)
DEFDAT ABWURF
;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P
EXT BAS (BAS_COMMAND :IN,REAL :IN )
DECL INT SUCCESS
;ENDFOLD (BASISTECH EXT)
;FOLD USER EXT;%{E}%MKUKATPUSER,%CEXT,%VEXT,%P
;Make here your modifications
;ENDFOLD (USER EXT)
;ENDFOLD (EXTERNAL DECLERATIONS)
DECL E6POS XP1={X 200.0,Y 0.0,Z 50.0,A -90.0,B 0.0,C -180.0,S 2,T 3,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL BASIS_SUGG_T LAST_BASIS={POINT1[] "HOME1 ",POINT2[] "HOME1 ",CP_PARAMS[] "CPDAT0 ",PTP_PARAMS[] "DEFAULT ",CONT[] " ",CP_VEL[] "0.8 ",PTP_VEL[] "50 ",SPL_NAME[] "S0 "}
DECL FDAT FP1={TOOL_NO 1,BASE_NO 6,IPO_FRAME #BASE,POINT2[] " "}
DECL PDAT PPDAT1={VEL 100.0,ACC 100.0,APO_DIST 100.0}
DECL FDAT FHOME1={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
ENDDAT
How can I set up the output from the post processor in RoboDK ???
not: DECL E6AXIS XP1={}
but: DECL E6POS XP1={}
Thank you in advance for your effort!
Oliver