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Set up change between DECL E6AXIS XP1 and DECL E6POS XP1
#1
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
#2
Hi Oliver,

This requires a post-processor modification.
If you own a RoboDK professional license, you can select "Help"->"Request Support" and contact us regarding this modification.

Have a great day.
Jeremy
Find useful information about RoboDK and its features by visiting our Online Documentation and by watching tutorials on our Youtube Channel


#3
Hello jeremy

Thank you for your answer.

Oliver
  




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