Hello,
I need some help please with the I/O on the robot wrist.
I want to use the valves to open/close the gripper. And the X41 for the sensors.
I don't know how to configure the outputs for the valves.
For connection X41 pins 11,12 are not assigned. Can those pins be used or are not wired? I need 1 more input.
In the attachment is also the workvisual backup if someone can help me to configure the valves.
Do I need an extra cable for X41 from the robot to controller?
I have a connection XPN1, is this only to connect with XPN41 on the wrist? And there I can use a I/O device on top of the robot?
Thank you
Valves and inputs on the wrist - KRC4 Agilus KR6 R900 Sixx
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Casius -
May 8, 2015 at 9:02 AM -
Thread is Resolved
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those two (11,12) are not connected. you get 6 inputs (all on X41) and 8 outputs (6 are controlling valves that are built in and last two are on X41). all other X41 pins are wired but - may not be mapped in your project.
To perform I/O mapping:
1. get current project from robot using workvisual
2. save it as different file name
3. activate project in work visual (by double clicking on Controller<kss version>)
4. open I/O mapping
5. leave left pane on KRC (those are I/Os that robot programs can access), and click on inputs
6. move right pane to Fieldbus (those are physical I/O), then highlight EM8905 module (this is I/O card inside agilus arm)
7. map inputs of EM8905 to robot inputs of your choice
8. repeat steps 5.6.7 for outputs
9. on the robot login as Expert or higher (Expert will work in this case since we did not modify safety configuration)
10. deploy modified project to robot and activate it (on robot)you should have something like on image below.
6 solenoids are mapped to ports:
1. 1A
2. 2A
3. 3A
4. 1B
5. 2B
6. 3B
7. R (relief/exhaust)note that 1A and 1B are ports of same valve (first one)
ports 2A and 2B are ports of the second valve etc.
to use them for gripper for example, use Allen key to remove caps from 1,4 and 7 (leave other ports plugged).
mount air line fittings in 1,4 (first valve, ports 1A and 1B)
mount exhaust on 7DO NOT OVERTIGHTEN!!! (they break easily)
connect air lines from 1,4 to your cylinder
connect air supply (robot base)
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I am new to Kuka robots and this post was very helpful for me to complete my setup of our small lab KR 6 700 sixx.
Your posts in general are very insightful.
Thank you,
Ken -
Thank you, this post helped me a lot!
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Good Morning,
is there a silencer, will that work when the valves are not working? how to find one please, if necessary.Thx
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Good Morning,
is there a silencer, will that work when the valves are not working? how to find one please, if necessary.Thx
More details needed. There are many brands of plugs, mufflers, etc. In order to give you any actual advice, we would need to know specifically what you are trying to accomplish, on which port, under which conditions.
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I want use the the valves 2A 2B and the configuration with Worlvisual to open and close. (Gripper) Max 7 bar say the doc.
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