[VKRC2]PTP Movement lasts only less than a second

    Hi! We recently perchased a used robot comes with VKRC2 Version 3.3.3. I got problems and searched for help and I got this forum which is amazing!

    :help:
    As the robot was used for production in VW, it came with extra hardware and software modul. That causes a lot of problems but now at least I can jog the robot, that means the safety circuit is okay, the connection is okay, everything works fine.

    I took the next step and got stuck: I tried to write a programm. Due to the extra configuration and software I can only create templates which are not standard templates from KUKA but with information from VW, which is related to gripper and welding unit. I tried to get a skeleton programm by removing the extra rows and I got the programm run.

    Now the problem appears: The simplest programm from the Expert Programming manual I got from Internet:
    $VEL_AXIS[X]=100 ;Definition of the axis velocities
    $VEL_AXIS[2]=100
    $VEL_AXIS[3]=100
    $VEL_AXIS[4]=100
    $VEL_AXIS[5]=100
    $VEL_AXIS[6]=100
    $ACC_AXIS[1]=100 ;Definition of the axis accelerations
    $ACC_AXIS[2]=100
    $ACC_AXIS[3]=100
    $ACC_AXIS[4]=100
    $ACC_AXIS[5]=100
    $ACC_AXIS[6]=100
    PTP {A1 0,A2 -90,A3 90,A4 0,A5 0,A6 0}

    The programm runs and stop at PTP command and the robot did move but only within a second it stops! I had to press the start button for more than 20 times to move the robot only half of the path...I have no idea why the robot did move to the point directly. Sometime it moves quicker sometime slower, whats the problem behind this issue?

    My guest: The programm checks the hardware, and I got a message about InterBus Lebensbit...I tried to disable the module as instructed by a post here. I still got the message. Is it possible that the robot stop the command due to this error, thats why it stops within a check interval?

    I got stuck for two days already and I desperately need your help! Thanks in advance!

    A few months ago we also bought a used vkrc2, and have run in similar problems you have. In the end we contacted kuka and the replaced the volkswagen software with the standard kuka software. that made my life so much easier. But back to your problem, do you have any error messages, are you running in T1 or T2? a screenshot would be nice.

    Every problem has a solution, that isn't the problem. The problem is the solution.

    Quote from Leon


    A few months ago we also bought a used vkrc2, and have run in similar problems you have. In the end we contacted kuka and the replaced the volkswagen software with the standard kuka software. that made my life so much easier. But back to your problem, do you have any error messages, are you running in T1 or T2? a screenshot would be nice.

    Hello Leon,

    we are pretty sure the problem is caused by the VW software, we did try to have a new installation, sadly the CD contains also only VW Version of the software.
    May I ask how you got the CD? From KUKA? and how much it costs? Is it possible that I buy this CD from other sources?
    Thanks for your help again!

    Byakki

    Hello byakki,

    we payed around 600 euro's for the conversion. This is not the price for the actual software but the total price of getting a kuka engineer to our plant, replace harddrive, make back-ups and justage of the robot.

    Every problem has a solution, that isn't the problem. The problem is the solution.

    For safety reasons, when you execute a program in AUT mode, the first PTP is executed in a special manner. The speed is reduced and you will have to keep the START button pressed until the robot has reached that point. If you release the button, the robot will stop and it will continue when you press again. You will know that it has reached the position when you read the "BCO reached" message. The next momentary press of the START button, after the message, will set the robot in full execution.

    Could this be what is happening in your case?

    We are located in the Netherlands, so i contacted kuka belgium, wich is located about 100 km from us. But if you use the standard contact email on the kuka website you will be put in contact with the closest kuka location.

    Every problem has a solution, that isn't the problem. The problem is the solution.

    Thanks again for your help. I contacted KUKA for the conversion and now waiting for the reply.

    To RAS-Skordos GR:
    I only executed the program in manual mode. The AUT mode doesnt work and I kept pressing the START button but it stopped anyway.

    I tried to reinstall the software and sadly now even the jogging mode doesnt work.
    Just have to wait until KUKA replies!

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