Hello, we have recently bought some KCR 1 controller. I do not know any thing about kuka robotics, I can program Fanuc, and Nachi, but Kuka is completely different. I was wondering if someone could point me in the right direction to learning how to jog the robot around (I want to eliminate the good robots, from the bad). So far we have powered it on and that's about it. Do I need to jump fence or anything like that before I am able to jog the robot?
Thank you!!!
Simple Instructions for Setup/ Jogging Kuka KRC 1 robot
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dafrenchman -
March 22, 2013 at 9:57 PM -
Thread is marked as Resolved.
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You need X11 safety jumper connection diagram for KRC1. You can find on forum.
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An X11 safety jumper should satisfy all the hardware safeties. For safety, you should make sure to use the T1-only jumper arrangement -- it is possible to create an X11 jumper that will allow T2 and AUT modes, which can be potentially dangerous.
It will probably also necessary to adjust some software settings. The system signal $MOVE_ENABLE will need to be set to $IN[1025]. Input 1025 is a special "always True" input in the robot's I/O table. The system signal $DRIVES_OFF may also need this treatment. Both of these signals can be accessed through the CONFIG menu, under Automatic External.
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Although in later KSS versions (4.x ?) you cannot set $move_enable to 1025 as the software won't allow you.
But if you are just jogging do though need this?
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Eh? I just used several KRC2s running KSS 5.6.8 on which I was able to set $MOV_ENABLE to $IN[1025] all the time, for T1, T2, and AUT modes. EXT mode is the only mode for which this is prohibited.
And yes, $MOVE_ENABLE is necessary for jogging in T1/T2, as well as operating in AUT or EXT modes.
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Ah my memory is returning!
As you say it's in ext where you need a physical input (not 1025) for move enable.
I knew there was something, but not being near a robot or a backup I couldn't remember correctly... (blushes)
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Allo,
I got rid of all the errors by mastering 2 axis and setting some parameters in $machine.dat to 1025
$MOVE_ENABLE
$DRIVES_OFF
$IMM_STOPNow I am left with a drives disabled alarm 200.
SO a little more digging and I find SD0 and SD4 with all the wires cut.
This means SD4 can be taken care off via CC1 Dummy plug.
SD0 appears to be the servo disconnect, I have to dig and find a servo disconnect switch.
Does it matter what kind?
Can I temporarily hook the wires as follow without a disconnect.
1-11
2-21
3-31Thanks for the help!