Hello,
I have a Kuka robot with a KRC2 controller and software version 5.6.10. The robot has a spindle on it for machining aluminum.
The spindle manufacturer recommends a daily warm-up cycle (6000 RPM for 5 minutes, 9000 RPM for 3 minutes, 12000 RPM for 3 minutes)
The program I have works in T1 mode, if I hold on to the enabling switch for 11-12 minutes! (ouch!)
But I cannot get the program to run in Auto mode, it just turns on the spindle at 6000 RPM, and runs like that forever, it looks like it gets hung up in the Wait Sec line.
Do you know why the Wait Sec line doesn't work? Or should the spindle warmup program be written entirely different?
Code
;FOLD Set 6000 RPM for 5 Minutes
SpindleRPM = 6000
RequestSpindleREV = False
RequestSpindleSTOP = False
PULSE(RequestSpindleFWD,True,3.0)
wait sec 180.0
;ENDFOLD
;FOLD Set 9000 RPM for 3 Minutes
SpindleRPM = 9000
RequestSpindleREV = False
RequestSpindleSTOP = False
PULSE(RequestSpindleFWD,True,3.0)
wait sec 180.0
;ENDFOLD
;FOLD Set 12000 RPM for 3 Minutes
SpindleRPM = 12000
RequestSpindleREV = False
RequestSpindleSTOP = False
PULSE(RequestSpindleFWD,True,3.0)
wait sec 300.0
;ENDFOLD
;FOLD Stop Spindle
SpindleRPM = 0
RequestSpindleFWD = False
RequestSpindleREV = False
Pulse(RequestSpindleSTOP,TRUE,3.0)
;ENDFOLD
Display More