Hi to all!
I've been figthing for almost one month to set up a brand new KR210 R3300 K ULTRA, KRC V8.2.19 (Kernel KS V8.2.123) and the help from KUKA has been quite useless so let's see if here I'm more lucky!
I've 2 completely different errors, non related one to the other (I think), one is the impossibility to make the OMROM ETHERCAT modules to communicate properly with the KUKA EtherCAT (this robot came directly from germany to my company with Ethercat), the other one, being able to set up properly the motion track that after many test I made it move for 4 cm, but then I've got an error.
So let's start with the details:
1.- I'm using a GRT1-ECT device from OMRON that is a EtherCAT SmartSlice, just an I/O device with some DIGITAL I/O modules. I've got the XML ESI file from OMRON, but or WorkVisual (2.4.3 build 78) is not recognizing it properly or the ESI file is not defined following the standard (that I doubt b'cos the device is etherCAT certified...) the thing is that on WorkVisual I cannot deactivate the analog inputs/outpus of the device, neither specify how many input/output bytes it needs (I'm using 2x8 output + 2x8 input modules). So the Device fails to initialize, the exact error is:
KSS13018
<SYS-X44> Error during ECat stack initialization. Device: GRT1-ECT
EtherCAT Communication Unit for Sm [Init: init command failed -
PREOP to SAFEO]
I'm having the SAME error when I try to communicate it with the 3G3AX_MX2_ECT, that is an EtherCAT communication device for an MX2 Spindle from OMRON. I try not to connect both of them at the same time to try to isolate the problem... but nothing... In the last installation I had to put a DEVICE NET gateway to be able to control both devices, BUT I don't want to do it b'cos then if devNet fails at any time you must restart manually the I/O driver of the robot, so the user must become Admin, etc etc etc...
Any Idea/Suggestion? I'm quite pissed with both KUKA and OMRON, they just blame each other...
2nd PROBLEM, the motion track.
I'm using a home made motion track based on a Mx_260_KSP40_00-136-892/00-119-767_V01 engine from KUKA, using a 190/7 reduction ratio. The only way to set properly the Geometry was using the WorkVisual 2.4.3 build 78, with the previous build 55 there was no flange inside the Geometry for this engine...
The robot orientation is the same than the motion track orientation, both +X are aligned, so I think that no transformation is needed, and as I just want it to move!!!
The machine.dat inside R1/MADA looks like this:
[...]
DECL EX_KIN $EX_KIN={ET1 #EASYS,ET2 #ERSYS,ET3 #NONE,ET4 #NONE,ET5 #NONE,ET6 #NONE} ;EXTERNE KINEMATIKEN #NONE,#EASYS,#EBSYS,#ECSYS,#EDSYS,#EESYS,#EFSYS,#ERSYS
[...]
DECL ET_AX $ET2_AX={TR_A1 #E2,TR_A2 #NONE,TR_A3 #NONE} ;EXTERNE ACHSEN #NONE, #E1, #E2, #E3, #E4, #E5, #E6
CHAR $ET2_NAME[20] ;NAME DER TRANSFORMATION ET2 MAX. 20 ZEICHEN
$ET2_NAME[]="Trac lineal"
FRAME $ET2_TA1KR={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;FRAME ZWISCHEN A1 UND FUSSPUNKT DER KIN IN TRAFO ET2
FRAME $ET2_TA2A1={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN A2 UND A1
FRAME $ET2_TA3A2={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN A3 UND A2
FRAME $ET2_TFLA3={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN FL UND A3
FRAME $ET2_TPINFL={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN MESSPUNKT UND FL
[...]
$ET1 is a rotary that is working fine, so I'm not posting more info on that one.
After many test, I make the E2 to move, BUT after 1 or 2 seconds (movement smaller that 4cm) the robot stops and I got this error :
KSS12032
Robot Controller <-> safety controller, Cart. position deviation
To be able to clean this error I have to unmaster and master again the E2 axis...
Again, from KUKA the response is being VERY slow and useless... And as they don't give a manual of detailed list of errors, I'm feeling quite alone in this moment.
Any idea of what can be happening?
I'll appreciate any idea!! Thanks in advance! And sorry for my long post, maybe I should put it in 2 different post...