Inverter speed control over KCP.

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  • The spindle I will be testing is a H6161H0822 Long Nose, Delta Connection 220V (Default was Star 380V Star Connection). Open attachment for Specs.
    The VFD Menu Startup settings:
    S.000 = 230v
    S.001 = 60Hz ( Asia )
    S.100 = 230v
    S.101 = 200Hz
    S.150 = 14.4A
    S.151 = 2
    S.152 = 0.85
    S.153 = 0.12
    S.200 = 1
    S.201 = 400hz
    S.202 = 3
    S.203 = 0
    S.300 = 5sec
    S.301 = 5sec


    and save the parameters in S.901


    That's all I have at the moment, anyone knows about VFD settings please give me a hand.


    thanks,

  • I guess nobody used that VFD/spindle combo. I have seen VFD in early posts but don't recognize it.
    You will need to get manual for it and configure it. To configure it you need to know few things such as line voltage, type of control (start/stop/velocity/fault management etc.).


    We know now that velocity setpoint will be coming from robot, through one of the Wago AO and that is 0-10V signal.

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

  • I have managed to speed control the spindle via KRC1 KCP (same for KRC2) manually by inputting the value 0~10.
    2 yeas ago the speed control was done by pressing the gripper + or - tabs for speed control without having to input the numbers. Right now I can switch on a relay by pressing the gripper activate tab circle in red, this will switch on the spindle and start to turn, but the + and - does not seemed to be working....

  • looks like you did not complete grippertech configuration. see how it is done on that other robot.
    gripper toggle button (in red circle) will work as long as there is at least one gripper.
    change gripper (increment/decrement) will work if there is more than one gripper.


    if I understand your description you only have one gripper configured, and value "1" shown between gripper+ and gripper- does not change.
    you can have up to 16 tools or up to 16 grippers (you don't have to do all 16, you may chose to only do 3, or 10).
    in other words, gripper+/gripper- buttons can be used to change value 1-16 (or 1-10) which then can control the spindle velocity.

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2


  • for connection established I need the "connect" green light on, right?
    has it got to do with the baud rate, MacId?


    Hi, I meet the same problem that the CONNECT light do not flash. I am using BECKHOFF coupler to build the IO connection.


    Could you tell me how you resolve this problem ?

  • You need to set Macid and Baudrate under:
    C:\KRC\ROBOTER\INIT\DEVNET.INI
    Read through Beckoff manual, I don't use Beckoff.


    under C:\KRC\ROBOTER\INIT\IOSYS.INI then goto Devnet, under Devnet enter:
    ANOUT1=5,0,16,2,cal32767
    ANOUT2=5,2,16,2,cal32767
    OUTB0=5,4,x1 ; $in[1..8]
    INB0=5,0,x1 ; $out[1..8]


    Then read reply#77, the clue is there.

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