Hello,
does anyone know how to tell that one of the robot axes has exceeded the maximum torque?
This will be used to troubleshoot the cause of a fault without having to actually see the robot.
diglo
Hello,
does anyone know how to tell that one of the robot axes has exceeded the maximum torque?
This will be used to troubleshoot the cause of a fault without having to actually see the robot.
diglo
robot throws messages when torque is exceed, they also end up in a message log
yes, but how to catch the error int the SPS to send it to an higher level? only with the $ERR structure?
no one has an answer to this? how do you report a collision in your robot programs?
The robot generates a system fault to the cell PLC, and someone has to come take a look. This is not a situation where you want to try diagnosing/clearing the problem remotely.
If you must have a detailed message to the cell PLC, try looking into the system variable $ERR. $ERR.NUMBER might contain what you need.
check manual - if robot detects collision, it calls program TM_USERACTION.SRC
you can add whatever code you like in there... you can just turn on an output or increment some variable or ....
check manual - if robot detects collision, it calls program TM_USERACTION.SRC
TM_USERACTION is related to the collision detection, the one that the user is programming i.e. to detect an object, am i right?
What i would like to report is the UNWANTED collisions which are causing robot to stop and need the fault reset procedure to be recovered (drive_on -> conf_mess -> ext_start).
I'll have a look at the $ERR variable when a robot will be available in the workshop...
read my previous post. if collision is detected, robot will call TM_USERACTION.
if you are getting nuisance trips, repeat collision detection teaching:
- run robot at least 2-3 cycles in auto, full speed with collision detection deactivated; then activate it again
you need to do this anyway if motions have changed, or program velocities or override velocity etc.
then if you still want to tweak it, adjust the imact and torque settings.
strongly suggest getting some training, this is covered in Programming1
Maybe i was not clear enough.
I'm not using the kuka's collision detection, i don't have to detect workpieces or collisions on single motions or single robot programs.
Is TM_USERACTION called during any collision? Also when kuka's CD feature is not configured and used?
I simply want to be able to report when the robot has unexpectedly collided with something because one of its motors has reached its maximum torque and the controller throws a system error such as "KSSxxxx Maximum motor torque Ax". (and the robot is in a faulty state)
diglo
read my previous post. if collision is detected, robot will call TM_USERACTION.
if you are getting nuisance trips, repeat collision detection teaching:
- run robot at least 2-3 cycles in auto, full speed with collision detection deactivated; then activate it againyou need to do this anyway if motions have changed, or program velocities or override velocity etc.
then if you still want to tweak it, adjust the imact and torque settings.strongly suggest getting some training, this is covered in Programming1
I've been through a lot of KUKA training, but I've never dealt with this (nor had to).
I've been through a lot of KUKA training, but I've never dealt with this (nor had to).
training is there to teach some material and point you in the right direction. I am still a bit unclear what exactly is expected here.
I simply want to be able to report when the robot has unexpectedly collided with something because one of its motors has reached its maximum torque and the controller throws a system error such as "KSSxxxx Maximum motor torque Ax". (and the robot is in a faulty state)
this is something that collision detection/torque monitoring are for...
there is a bit telling you that robot is in fault state (check AutoExternal I/O configuration) but I suppose you want to differentiate between motor overcurrent messages and all other fault messages and your plan is to look at the motor currents. did you check system variables manual? there is variable CURR_ACT[]
also, I would check with Kuka, there should be tech package for forwarding robot messages to another system (I think called KRL Messages or something like that)
It is called KRmsgNET
QuoteDisplay MoreOverview of KRmsgNET
KUKA KRmsgNET is an add-on technology package with the following functions:
Functions Transfer of the messages displayed on the KUKA smartHMI to between 1
and 5 external systems via the UDP/IP protocol in the language set on the
smartHMI.
6 different message types can be sent to the external system:
Notification message
Status message
Acknowledgement message
Wait message
Dialog message
System message
Configuration of filters which only transfer certain message types to the external
system.
User-specific configuration of filters for each channel via the corresponding
xml files.