Kuka VisionTech 2.1, Manual

Page: 77 / 109

77 / 109 Issued: 11.10.2013 Version: KST VisionTech 2.1 V1
11 Programming
11.18 Subprogram VT_DIRECT
Description
The subprogram VT_DIRECT calculates the status of axis 5 at the end point
in such a way that axes 4 and 6 are moved as little as possible. The program
requires the coordinates X, Y, Z, A, B and C of start and end points as well as
the status of the start point.
Start and end points can be taught with different tools and base coordinate
systems. In order for these to be calculated for the axis angles, the tool and
base must be transferred as a parameter for each start and end point.
Syntax
VT_DIRECT
("
Start point
"), ("
End point
"), ("
Base of the start point
"), ("
Base of the
end point
"), ("
Tool of the start point
"), ("
Tool of the end point
")
Explanation of
the syntax
Example
If the status for the basic area or for axes 2 and 3 changes from the
start point to the end point, the program can no longer be used.
Element Description
Start point
Type: E6POS (IN)
End point
Type: E6POS (IN)
Base of the start
point
Number of the base of the start point
Type: FRAME (IN)
Base of the end
point
Number of the base of the end point
Type: FRAME (IN)
Tool of the start
point
Number of the tool of the start point
Type: FRAME (IN)
Tool of the end
point
Number of the tool of the end point
Type: FRAME (IN)
PTP VorPunkt Vel=100 % PDAT21 Tool[1]:Measuring Tip Base[1]:kalib
VT_DIRECT(XVorPunkt,XGreifpunkt,base_data[1],base_data[11],
tool_data[1],tool_data[10])
PTP Greifpunkt Vel=10 % PDAT12 Tool[10]:Measuring Tip Base[11]:greif