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Frame Builder's BASE and TOOL not working.

#1 by MDK_Sanovo , Thu Jan 30, 2020 8:05 am

Adding BASE and TOOL ordinations in the Frame Builder doesn't work, in the new version of KIDE V.0.9.6.3
You can only add BASE NULL and TOOL NULL
Se picture of the error.

If I install older version of KIDE, then it works fine :)|addpics|sou-2-f419.png|/addpics|

Attached pictures:
Frame Builder.png  

MDK_Sanovo  
MDK_Sanovo
Posts: 2
Date registered 01.30.2020


RE: Frame Builder's BASE and TOOL not working.

#2 by cquante , Fri Jan 31, 2020 9:40 am

Zitat von MDK_Sanovo im Beitrag #1
Adding BASE and TOOL ordinations in the Frame Builder doesn't work, in the new version of KIDE V.0.9.6.3
You can only add BASE NULL and TOOL NULL
Se picture of the error.

If I install older version of KIDE, then it works fine :)


Hello,

welcome to the forum and thank you for the information!

I'm sorry I cannot reproduce the issue. As a test I added two new BASE and two new TOOL variables and tried to set that Positions as BASE and TOOL in Frame builder:



I also tested the situation using your variable name tFrameTool without getting any error message. If you have no problem sending the project file, than please send it to me via PM. I will check if that issue is related to some other thing in the project file.

Thank you!
|addpics|s5l-4-253d.jpg-invaddpicsinvv|/addpics|


Christian Quante
Project Support & Development
Technical Department

Kawasaki Robotics GmbH
Rheiner Landstrasse 195A • 49078 Osnabrück
Germany


 
cquante
Posts: 281
Date registered 12.20.2019


RE: Frame Builder's BASE and TOOL not working.

#3 by cquante , Wed Feb 05, 2020 9:36 am

Thank you for the AS file! I guess I found the bug.

If you like to set TOOL or BASE coordinates K-IDE send the TRANS values to the controller. After that K-IDE trys to read back the values and compare it for validation. If the read back values differ, K-IDE shows the error message from post #1.

The TOOL you try to set looks like this:
-20.0 0.0 151.0 -180.0 180.0 0.0

If you set this values as TOOL values in the robots controller, they are automatically converted to:
-20.0 0.0 151.0 180.0 180.0 0.0

I changed the checking routine to take care of this and check also the angle with the +360° and -360° offsets.

Here's the fixed version:

https://www.magentacloud.de/lnk/8qAqgYpk


Christian Quante
Project Support & Development
Technical Department

Kawasaki Robotics GmbH
Rheiner Landstrasse 195A • 49078 Osnabrück
Germany


 
cquante
Posts: 281
Date registered 12.20.2019


   

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