### Recent Posts

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##### KUKA Robot Forum / Re: Positioning panels with sensors
« Last post by SkyeFire on Today at 01:33:42 PM »
Wouldn't it be simpler to do a simple search for S1, then S2, then use a trigonometry calculation to determine the angle between them?  That would eliminate the need for a slow rotation to line up to the long edge.
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##### KUKA Robot Forum / Re: KUKA Manuals
« Last post by SkyeFire on Today at 01:15:39 PM »
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##### KUKA Robot Forum / KUKA Manuals
« Last post by Ninad Joshi on Today at 12:33:47 PM »

Hello friends, I am studying KUKA robot system. I want to know about IO system i.e., Kuka System Bus (SYS-X48), Kuka Control Bus, EtherCAT, Kuka Expansion Bus (SYS-X44), IO Configuration, IO Mapping through WorkVisual etc. Can I get here the appropriate manual for reading about this ?

Thanks and Regards,
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##### KUKA Robot Forum / Positioning panels with sensors
« Last post by willy on Today at 11:36:51 AM »
Hello Everybody,

I'm new on robotics, and working on an project where i have to find the orientation of the products related to TCP of the robot.

Setup:
Robot: KRC 60-3
Controller: KRC4 8.8.33

We have to handle multiple panels all of them have other dimensions.
The panels Will be picked from multiple in feed stations, a vision system Will identify the product type.
based on that I'm able to locate roughly the orientation of the panel in the gripper.

In the image attached the steps of the measurement procedure where i was thinking about.
The result what i need is just an corner of the panel X/Y and its rotation A.

Step 1:
The robot fly's to the measurement space.
This position Will always be the same rotation of the TCP, based on product length and width i can define the X/Y offset.

Step 2:
Find the length of the panel by moving the robot towards S2/S3.

Step 3:
Based on the sensor  that was found first, the robot has to rotate around it to find the other sensor.
from here on I'm able to define the rotation from the panel according to my gripper(TCP), and the offset in width.

Step 4:
Find S1 and define the length offset of the panel.

I understand that i can find the positions of the sensors by interrupt, save the position of it an so on.

But i need a little bit of help by step 3. My first idea is to calculate an TCP related to the sensor switch position what is found as first and the actual robot position.
then make an rotation around that point and find the other sensor.

i was wondering are there more easy options to do this ?
for example:
is it possible to skip the calculation of an TCP related to the sensor what i suggested before.
something like S2 found an rotate around fixed position of the switch point of the sensors towards S3.

Thanks.
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##### Yaskawa Motoman Robot Forum / Creat or Enable FTP Profile in NX100
« Last post by majidhd on Today at 03:28:57 AM »
Hiii
How to enable FTP Profile When it s not appear in sub Meniue  FD/CF in NX 100 ?

Thanks
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##### Yaskawa Motoman Robot Forum / Re: Get currently active tool number in DX200
« Last post by 95devils on Yesterday at 03:21:38 PM »
Yes, if you create the program with the short torch and you try to run it with the long torch it will crash.

The tool number you select from the tool list does not matter after the job is created.  The job doesn't change or go to different positions.  When you select a different tool in the list, it becomes active.  This is used for jogging the robot or when you add or modify positions to the job.  Besides, just jogging, the controller looks at the recorded tool in the program to calculate the path of a MOVL, MOVC, or MOVS (there are others, nonstandard).

If you have touch sense through the wire, you could touch off, grab the robot's current position and compare the position for long or short torch.

Almost any sensor could work with a long enough range.  Various ways to do this:  A program that checks the sensor to be off, move the long tool to a position, check the sensor to be on.  If not on, move to a position where the short torch should be and check for on.  I would have the sensor located where if the sensor failed and the long torch was mounted, the torch wouldn't crash.
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##### KUKA Robot Forum / Re: Connecting to KRC4 via ethernet and RoboDK
« Last post by Tgc on Yesterday at 02:32:43 PM »
Did you have to install the Qt libraries separately, or did RoboDK's installer install them? If you had to install them separately, make sure they are the correct version, and 32-bit with 32-bit RoboDK installation, and 64-bit with 64-bit installation.
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##### Yaskawa Motoman Robot Forum / Re: Get currently active tool number in DX200
« Last post by lfer on Yesterday at 01:28:07 PM »
When you teach points in your job do you jog the robot, set the MOV type and the speed, then enter it into the job?  Or do you write the MOVs from the INFORM LIST under MOTION?

If you do the first, that is servo command.  The controller grabs the pulse counts of each axis and writes it into the job.  Also, the active tool is recorded.  Once this is done it doesn't matter what tool you set in the Tool Sel menu.  Tool 63 could be in active tool on the list, the job will run the same as before.  The tool associated with the position is not going to change unless someone modifies the position with a different active tool.  If can be prevented under SETUP, TEACHING COND., TOOL NO. INTERLOCK FOR STEP ENTRY.

Doesn't matter how you program it, even if you could get the tool number, without some feedback an operator can still screw it up.

Thank you so much, I am learning a lot.
Yes I do the first, I jog the robot and then enter a new point on my programs.

Will the job run as before? My problem is that I have 2 torches, one which has a length of about 100mm and another one with a length of about 300mm, so the TCP of each torch is in a different position regarding a fixed point on the base of the robot. I haven't yet tried but I am thinking that if I create a simple weld line with the smaller torch (for instance a corner joint with the torch vertical since it has a 45ยบ swan neck). If I try to run the same program with torch 2 mounted and defined in the tool list, the robot will crash since it's swan neck is in a lower Z height with respect, for instance, to the robot wrist.

I agree with you, an operator can still mount torch 2 and leave torch 1 defined in the tool list. Can you recommend some type of sensors to avoid this problem?
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##### Yaskawa Motoman Robot Forum / Re: Get currently active tool number in DX200
« Last post by Robogirl on Yesterday at 11:21:04 AM »

Yeah well we are all only human 95devils and we do screw up things doesn't matter if you are operator or programmer...

Exactly.  We all make mistakes every day.  My point was meant to be, without some sort of sensing feedback; crashes and bent torches are going to happen.  If I understand what the OP want, I see a problem.  Operator/someone types a tool number into a variable. Look it's the correct number.  Ohh, I didn't physically change the torch.

Yes i understand
Hehe don't worry...crashes will happen especially when starting up a new product/program

It would be nice to see some photos of the setups but i understand if it's not possible, not sure if the op's company would like that...
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##### Fanuc Robot Forum / Re: Communication with PC
« Last post by Velcro on Yesterday at 10:38:48 AM »
I will need a 3rd party vision system for this project, so fanuc iRVision will not be used
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