SLIN XPOSTPICK WITH $VEL=SVEL_CP( 2,, LCPDAT2), $TOOL=STOOL2( FPOSTPICK), $BASE= SBASE( FPOSTPICK.BASE_NO),$IPO_MODE=SIPO_MODE( FPOSTPICK.IPO_FRAME), $LOAD=SLOAD( FPOSTPICK. Libreria interattiva di bracci robotici industriali. 4).Ring controller receives the activation signals from the push buttons and sends them to the actuator’s controller through a wireless transmission. The user wears the remote ring on the index finger, its controller box housing is included in a bracelet that can be worn on the wrist, (see, Fig. workplace (Robot Studio, Roboguide, RoboDK), the RoboDK environment was.
FOLD SLIN PICKPOS Vel=2 m/s CPDAT1 ADAT0 Tool:GRIPPER Base %%R 8.3.43,%MKUKATPBASIS,%CSPLINE,%VSLIN_SB,%P 1:SLIN_SB, 2:POSTPICK, 3:, 5:2, 7:CPDAT2, 8:ADAT0 It includes two push buttons to remotely control Co-Gripper motion. robot Yaskawa SDA 10F, which is equipped with electric grippers Schunk.
#Schunk gripper robotstudio download code
Please have a look on the code (just a part): creates the inverse kinematics plan - the joint angles needs for a specified eef. The Schunk Object contains various basic functionalities: getIK. Look at the setschunk.h file in the include/schunk/ directory of the schunkgrippercommunication project for supplied arguments. But somehow robot is executing motion without waiting for this signals. setschunk.cpp holds the functionality for the created Schunk Object. So when robot is in pick or place position I am sending relevant signal to plc with request to grip or ungrip, then I'm waiting for signal from plc that part is gripped/ungripped, then I proceed with motion. Gripper is controlled by PLC not by robot controller.
KR10 R1100 sixx with KRC4 compact is equipped with Schunk servogripper.