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You do not need to add the JMP LBL it will go to the specified LBL when the desired time is reach or if the conditions are met it will proceed to the next line in the program.
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KUKA LBR IIWA / Re: API reference for sunrise.os classes
« Last post by kiiwa on Today at 04:04:40 PM »
You can view them just by hovering your mouse over the keywords on Sunrise Workbench, or you can open them on your browser as follows:
-> Open the "KUKAJavaLib" Folder that you see on SunriseWorkbench
-> Unzip "com.kuka.roboticsAPI_1.15.1.7-javadoc.jar" or any other Library you want
-> Open the "index.html" in any browser
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KUKA Robot Forum / To avoid sudden jerks in the motion
« Last post by piyushjadhav on Today at 04:00:44 PM »
 Details of the KUKA robot:
KUKA AGILUS KR10 900
KSS version is V8.3.30
KRC4 10

Hi all,

I am working on Kuka robot for some time now, I have a trouble with the sudden jerks seen in the motion. I am not able to come up with a good idea to solve or if I am missing any function provided by KRL.

So the situation is like, I am using robots in real-time motion with the data coming from some sensors. I have the higher level program which controls the motion of the robot, when I stop or pause the higher program for debugging or so, then after starting back the program the robot sees a huge input coming. The robot accelerates from zero speed and gives back a harsh jerk on the support of the robot.

I was thinking of giving a ramp up to the input, but i guess would impact the performance in terms of delays. Any better idea?
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WAIT RI[2]=ON AND RI[4]=ON, Timeout, LBL[1]

By adding LBL [1] at the end, the program automatically jumps to this label? Or do you need to include "Jump LBL[1]" ?
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Fanuc Robot Forum / Re: Prio-063 Bad I/O asg: Rack 1 Slot 3
« Last post by alive15 on Today at 03:44:51 PM »
Sounds like if the PLC is disconnected, and you are getting bad I/O fault on robot, then maybe the power from your robot i/o blocks were getting power through the PLC? Do you have an output that turns the robot i/o modules on and off? I wouldn't think this is the issue, but just checking. It would be interesting to see how you wire up panels in Brazil vs America. I don't think there is much difference probably.
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KUKA Robot Forum / Re: X12-NPN/PNP
« Last post by panic mode on Today at 03:32:20 PM »
you can... but you still need to reference them to same potential.


IOB has 16 digital inputs and 16 digital outputs.
both of them can be PNP or NPN.


manual for optional interfaces has example connection diagrams.
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ABB Robot Forum / Re: Safemove2 and CIP Safety
« Last post by bellm on Today at 03:30:51 PM »
Thank you for the reply, after changing the configuration size to 0 I know get a message "Connection Request Error: Module connection limit exceeded." Have any suggestions? I tried resetting the CIP connection in the teach pendant.
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Fanuc Robot Forum / Re: r30ia system variables not visible on menus
« Last post by bencor21 on Today at 03:24:17 PM »
then try toggling the quick/full menus
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Fanuc Robot Forum / Re: r30ia system variables not visible on menus
« Last post by stein on Today at 03:06:35 PM »
It is not there. Line 8 is greyed out.
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Fanuc Robot Forum / Re: r30ia system variables not visible on menus
« Last post by bencor21 on Today at 02:57:36 PM »
Is SYSTEM there or not?  If it is not FCTN > NEXT > QUICK/FULL MENUS.  If it is greyed out???
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