Use of the Timer

General Questions
1

Hello everyone,

First of all thank you all for your posts, I have never posted but your answers have helped me very often. Today I’m taking the step!

I’m working on Kuka Sim Pro 3.1.2 and I’m trying to program an iiwa robot. I would like to use a timer to measure the time it takes to make some movements.

So I use a very simple timer [1] that I start and stop after a certain time.
The problem is that I have no output feedback. So I can’t measure anything.
In the program section, it looks like Timer [1] is automatically set to 0…

Do you have any idea why the timer doesn’t start?

I have attached a screenshot of the simulation and the code related to the program.

Thanks in advance for your help.

Thomas
My_Job.src (94.1 KB)

output
output1920×1446 225 KB

2

I don’t know much about KUKA.Sim, but I have a hunch that because Iiwa is a collaborative robot it might not have a RCS module which would provide accurate motion timing and thus no timing functions are available / functional.

Maybe try with a normal robot with RCS?

edit. And you have old version of KUKA.Sim, does it even have RCS?

3

Thanks a lot for your answer :slightly_smiling_face:

Good intuition…I checked with another robot and the timer works.

Do you know if there is another way to measure time using an iiwa robot?