Bonjour seb_22
c'est une armoire krc2
qui commande un kr150 L110
pour l'instant je n'ai fait que de la manip a partir du KCP (idem ta video)
j'ai réussi à générer un parcours simple (cercle)
1 Solidworks enregistrement en dxf
2 dxf ver cn avec dxf converteur
3 ouverture du fichier cn avec r.DK
4 production par r.DK de 2 fichiers en KRL (srs et dat) ci dessous
5 transfert sur le DD du KRC par l' intermédiaire d'une clef usb
les fichiers apparaissent sans erreur sur le KCP
je ne les ai pas encore lancé
car je suis en train de finaliser l'encrage du KR sur un socle
j’espère que cela fonctionnera
je ne voudrais pas polluer le post à
seb_22
n’hésitez pas à me dire si vous souhaitez en créer un nouveau
Eric
fichiers machine en KRL produit par R.DK :
cercle.dat
ACCESS RVP
&REL 1
&COMMENT Generated by RoboDK
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM EDITMASK = *
DEFDAT CIRCLE
EXT BAS (BAS_COMMAND :IN,REAL :IN )
EXT SetTool()
EXT M_RunCode()
EXT SetRPM()
DECL E6AXIS XP1={A1 -94.35134,A2 -26.43012,A3 142.77105,A4 -180.00000,A5 26.34093,A6 85.64866}
DECL FDAT FP1={TOOL_NO 1,BASE_NO 2,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 1.000,APO_MODE #CPTP}
DECL E6POS XP2={X -70.711,Y -70.711,Z 15.000,A -180.000,B -0.000,C 180.000}
DECL FDAT FP2={TOOL_NO 1,BASE_NO 2,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL LDAT LCPDAT2={VEL 1.00000,ACC 100.000,APO_DIST 1.000,APO_FAC 50.0000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000}
DECL E6POS XP3={X -70.711,Y -70.711,Z 3.000,A -180.000,B -0.000,C 180.000}
DECL FDAT FP3={TOOL_NO 1,BASE_NO 2,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL LDAT LCPDAT3={VEL 1.00000,ACC 100.000,APO_DIST 1.000,APO_FAC 50.0000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000}
DECL E6POS XP4={X -70.711,Y -70.711,Z -1.500,A -180.000,B -0.000,C -180.000}
DECL FDAT FP4={TOOL_NO 1,BASE_NO 2,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL LDAT LCPDAT4={VEL 0.00250,ACC 100.000,APO_DIST 1.000,APO_FAC 50.0000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000}
DECL E6POS XP5={X -70.711,Y 70.711,Z -1.500,A -180.000,B -0.000,C -180.000}
DECL E6POS XP6={X 70.711,Y 70.711,Z -1.500,A -180.000,B -0.000,C -180.000}
DECL FDAT FP6={TOOL_NO 1,BASE_NO 2,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL LDAT LCPDAT6={VEL 0.00667,ACC 100.000,APO_DIST 1.000,APO_FAC 50.0000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000}
DECL E6POS XP7={X 70.711,Y -70.711,Z -1.500,A -180.000,B -0.000,C -180.000}
DECL E6POS XP8={X -70.711,Y -70.711,Z -1.500,A -180.000,B -0.000,C -180.000}
DECL FDAT FP8={TOOL_NO 1,BASE_NO 2,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL LDAT LCPDAT8={VEL 0.00667,ACC 100.000,APO_DIST 1.000,APO_FAC 50.0000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000}
DECL E6POS XP9={X -70.711,Y -70.711,Z -3.000,A 180.000,B -0.000,C -180.000}
DECL FDAT FP9={TOOL_NO 1,BASE_NO 2,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL LDAT LCPDAT9={VEL 0.00250,ACC 100.000,APO_DIST 1.000,APO_FAC 50.0000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000}
DECL E6POS XP10={X -70.711,Y 70.711,Z -3.000,A -180.000,B -0.000,C 180.000}
DECL E6POS XP11={X 70.711,Y 70.711,Z -3.000,A -180.000,B -0.000,C 180.000}
DECL FDAT FP11={TOOL_NO 1,BASE_NO 2,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL LDAT LCPDAT11={VEL 0.00667,ACC 100.000,APO_DIST 1.000,APO_FAC 50.0000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000}
DECL E6POS XP12={X 70.711,Y -70.711,Z -3.000,A -180.000,B -0.000,C -180.000}
DECL E6POS XP13={X -70.711,Y -70.711,Z -3.000,A 180.000,B -0.000,C -180.000}
DECL FDAT FP13={TOOL_NO 1,BASE_NO 2,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL LDAT LCPDAT13={VEL 0.00667,ACC 100.000,APO_DIST 1.000,APO_FAC 50.0000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000}
DECL E6POS XP14={X -70.711,Y -70.711,Z 3.000,A -180.000,B -0.000,C 180.000}
DECL FDAT FP14={TOOL_NO 1,BASE_NO 2,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL LDAT LCPDAT14={VEL 0.00250,ACC 100.000,APO_DIST 1.000,APO_FAC 50.0000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000}
DECL E6POS XP15={X -70.711,Y -70.711,Z 15.000,A -180.000,B -0.000,C 180.000}
DECL FDAT FP15={TOOL_NO 1,BASE_NO 2,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL LDAT LCPDAT15={VEL 1.00000,ACC 100.000,APO_DIST 1.000,APO_FAC 50.0000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000}
DECL E6POS XP16={X -0.000,Y 0.000,Z 15.000,A -180.000,B -0.000,C -180.000}
DECL FDAT FP16={TOOL_NO 1,BASE_NO 2,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL LDAT LCPDAT16={VEL 1.00000,ACC 100.000,APO_DIST 1.000,APO_FAC 50.0000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000}
DECL E6POS XP17={X -0.000,Y -0.000,Z 115.000,A -180.000,B -0.000,C 180.000}
DECL FDAT FP17={TOOL_NO 1,BASE_NO 2,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL LDAT LCPDAT17={VEL 1.00000,ACC 100.000,APO_DIST 1.000,APO_FAC 50.0000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000}
ENDDAT
cercle.srs
&ACCESS RVP
&REL 1
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM EDITMASK = *
DEF CIRCLE ( )
;FOLD INI
BAS (#INITMOV,0 )
;ENDFOLD (INI)
;FOLD STARTPOS
$BWDSTART = FALSE
PDAT_ACT = PDEFAULT
BAS(#PTP_DAT)
FDAT_ACT = {TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE}
BAS(#FRAMES)
;ENDFOLD
;FOLD SET DEFAULT SPEED
$VEL.CP=0.2
BAS(#VEL_PTP,100)
BAS(#TOOL,0)
BAS(#BASE,0)
;ENDFOLD
$ADVANCE = 5
PTP $AXIS_ACT ; skip BCO quickly
; Program generated by RoboDK v3.8.4 for KUKA KR 150-2 on 04/07/2019 21:14:04
; Using nominal kinematics.
BASE_DATA[2] = {FRAME: X 0.000,Y 1000.000,Z 0.000,A 0.000,B 0.000,C 0.000}
TOOL_DATA[1] = {FRAME: X 0.000,Y 0.000,Z 0.000,A 0.000,B 0.000,C 0.000}
$VEL.CP = 1.00000
;FOLD PTP P1 Vel=100 % PDAT1 Tool[1] Base[2];%{PE}%R 5.5.31,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1
TP, 2
1, 3:, 5:100, 7
DAT1
$BWDSTART=FALSE
PDAT_ACT=PPDAT1
FDAT_ACT=FP1
BAS(#PTP_PARAMS,100)
PTP XP1 C_PTP
;ENDFOLD
;FOLD LIN P2 Vel=1.000 m/s CPDAT2 Tool[1] Base[2];%{PE}%R 5.5.0,%MKUKATPA20,%CARC_SWI,%VLIN,%P 1:LIN, 2
2, 3:, 5:1, 7:CPDAT2
$BWDSTART=FALSE
LDAT_ACT=LCPDAT2
FDAT_ACT=FP2
BAS(#CP_PARAMS,1)
LIN XP2 C_DIS
;ENDFOLD
SetTool(1)
M_RunCode(6)
SetRPM(6000.0)
$VEL.CP = 1.00000
M_RunCode(3)
;FOLD LIN P3 Vel=1.000 m/s CPDAT3 Tool[1] Base[2];%{PE}%R 5.5.0,%MKUKATPA20,%CARC_SWI,%VLIN,%P 1:LIN, 2
3, 3:, 5:1, 7:CPDAT3
$BWDSTART=FALSE
LDAT_ACT=LCPDAT3
FDAT_ACT=FP3
BAS(#CP_PARAMS,1)
LIN XP3 C_DIS
;ENDFOLD
$VEL.CP = 0.00250
;FOLD LIN P4 Vel=0.003 m/s CPDAT4 Tool[1] Base[2];%{PE}%R 5.5.0,%MKUKATPA20,%CARC_SWI,%VLIN,%P 1:LIN, 2
4, 3:, 5:0, 7:CPDAT4
$BWDSTART=FALSE
LDAT_ACT=LCPDAT4
FDAT_ACT=FP4
BAS(#CP_PARAMS,0)
LIN XP4 C_DIS
;ENDFOLD
$VEL.CP = 0.00667
;FOLD CIRC P5 P6 Vel=0.007 m/s CPDAT6 Tool[1] Base[2];%{PE}%R 5.5.0,%MKUKATPA20,%CARC_SWI,%VCIRC,%P 1:CIRC, 2
6, 3:, 5:0, 7:CPDAT6
$BWDSTART=FALSE
LDAT_ACT=LCPDAT6
FDAT_ACT=FP6
BAS(#CP_PARAMS,0)
CIRC XP5, XP6 C_DIS
;ENDFOLD
;FOLD CIRC P7 P8 Vel=0.007 m/s CPDAT8 Tool[1] Base[2];%{PE}%R 5.5.0,%MKUKATPA20,%CARC_SWI,%VCIRC,%P 1:CIRC, 2
8, 3:, 5:0, 7:CPDAT8
$BWDSTART=FALSE
LDAT_ACT=LCPDAT8
FDAT_ACT=FP8
BAS(#CP_PARAMS,0)
CIRC XP7, XP8 C_DIS
;ENDFOLD
$VEL.CP = 0.00250
;FOLD LIN P9 Vel=0.003 m/s CPDAT9 Tool[1] Base[2];%{PE}%R 5.5.0,%MKUKATPA20,%CARC_SWI,%VLIN,%P 1:LIN, 2
9, 3:, 5:0, 7:CPDAT9
$BWDSTART=FALSE
LDAT_ACT=LCPDAT9
FDAT_ACT=FP9
BAS(#CP_PARAMS,0)
LIN XP9 C_DIS
;ENDFOLD
$VEL.CP = 0.00667
;FOLD CIRC P10 P11 Vel=0.007 m/s CPDAT11 Tool[1] Base[2];%{PE}%R 5.5.0,%MKUKATPA20,%CARC_SWI,%VCIRC,%P 1:CIRC, 2
11, 3:, 5:0, 7:CPDAT11
$BWDSTART=FALSE
LDAT_ACT=LCPDAT11
FDAT_ACT=FP11
BAS(#CP_PARAMS,0)
CIRC XP10, XP11 C_DIS
;ENDFOLD
;FOLD CIRC P12 P13 Vel=0.007 m/s CPDAT13 Tool[1] Base[2];%{PE}%R 5.5.0,%MKUKATPA20,%CARC_SWI,%VCIRC,%P 1:CIRC, 2
13, 3:, 5:0, 7:CPDAT13
$BWDSTART=FALSE
LDAT_ACT=LCPDAT13
FDAT_ACT=FP13
BAS(#CP_PARAMS,0)
CIRC XP12, XP13 C_DIS
;ENDFOLD
$VEL.CP = 0.00250
;FOLD LIN P14 Vel=0.003 m/s CPDAT14 Tool[1] Base[2];%{PE}%R 5.5.0,%MKUKATPA20,%CARC_SWI,%VLIN,%P 1:LIN, 2
14, 3:, 5:0, 7:CPDAT14
$BWDSTART=FALSE
LDAT_ACT=LCPDAT14
FDAT_ACT=FP14
BAS(#CP_PARAMS,0)
LIN XP14 C_DIS
;ENDFOLD
$VEL.CP = 1.00000
;FOLD LIN P15 Vel=1.000 m/s CPDAT15 Tool[1] Base[2];%{PE}%R 5.5.0,%MKUKATPA20,%CARC_SWI,%VLIN,%P 1:LIN, 2
15, 3:, 5:1, 7:CPDAT15
$BWDSTART=FALSE
LDAT_ACT=LCPDAT15
FDAT_ACT=FP15
BAS(#CP_PARAMS,1)
LIN XP15 C_DIS
;ENDFOLD
M_RunCode(9)
;FOLD LIN P16 Vel=1.000 m/s CPDAT16 Tool[1] Base[2];%{PE}%R 5.5.0,%MKUKATPA20,%CARC_SWI,%VLIN,%P 1:LIN, 2
16, 3:, 5:1, 7:CPDAT16
$BWDSTART=FALSE
LDAT_ACT=LCPDAT16
FDAT_ACT=FP16
BAS(#CP_PARAMS,1)
LIN XP16 C_DIS
;ENDFOLD
;FOLD LIN P17 Vel=1.000 m/s CPDAT17 Tool[1] Base[2];%{PE}%R 5.5.0,%MKUKATPA20,%CARC_SWI,%VLIN,%P 1:LIN, 2
17, 3:, 5:1, 7:CPDAT17
$BWDSTART=FALSE
LDAT_ACT=LCPDAT17
FDAT_ACT=FP17
BAS(#CP_PARAMS,1)
LIN XP17 C_DIS
;ENDFOLD
M_RunCode(2)
END