Resolver problem

Is this a KUKA resolver? How are you trying to connect it to the KRC4? Are you using ConveyorTech? What exactly are you trying to do with this resolver?

you have to do quite few things before it works...
configure it in WoV, calibrate conveyor, connect sensor to fast measure input, create program using ConveyorTech module etc. everything is in the manual

ConveyorTech doesn't have to use the fast-measurement inputs, IIRC, although using the normal inputs requires you to have more leeway for the time lag. Have you connected the Fast Measurement inputs? Once you have, it's mostly a matter of using $MEAS_PULSE[] with Interrupts for best reaction time.

Quote from ezzine

hi can you please guide me through conecting this fast measurment inputs..i'm stuck i couldn't find any documentation neither for fast measurment inputs or how to configure the resolver with workvisual.thank you very much

I guess you are talking about KRC4 controllers. You should be looking into electrical drawings of fast measurement inputs. I do not know which controller version are you using but you may have to look for X33 or X25 connectors depending on you controller version.

For enabling fast measurements through Work Visual, you have to activate the controller in hardware tab and select it and then follow menu path: Editors>Additional Controller Settings>Fast Measurement Interfaces and then select the checkbox saying Enable Measurement Channels.

Deploy the project.

Thanks

i would recommend reviewing what you are asking. so far all we know is:
a) KRC4
b) conveyortech
c) resolver

you mentioned no version of either hardware or software (KSS, ConveyorTech).

ConveyorTech comes with manual containing quite detailed description of all steps needed to setup resolver (section 6). What line in manual gives you trouble?

can you *please* try to put some ***details*** in your posts?

saying "i have krc4" is same as saying "i drive ford". i can promise you - that much info will ***not*** help you get correct brake pads, or gaskets or whatever. you are asking for very specific help but you are not being specific.

KSS8.2 comes in ***many***versions, do you mean 8.2.1 or 8.2.1SR or 8.2.18 or 8.2.26 or anything in between?
same is with your Conveyor tech. what is the version that you have? also what WoV version... (detailed version numbers, please).

https://www.robot-forum.com/robotforum/kuk…rum/read-first/

soooo...

A) according to your KrcDiag.log:

13:48:39 Robot name: ENISO
13:48:40 CPU Frequency:  2.89 GHz, RAM: 1656 MB
13:48:40 KRC Version:  KR C, V8.2.22, Build 142
13:48:40 KRC Options:
13:48:40   Conveyor ,V5.1.0 ,Build 5
13:48:40   EthernetKRL ,V2.2.0 ,Build 19
13:48:40   ExpertTech ,V3.2.0 ,Build 6
13:48:40   Gripper-&SpotTech ,V3.1.2 ,Build 12
13:48:40   
13:48:40   KRC4 Profibus-CP5614 ,V1.0.1 ,Build 6
13:48:40   RemoteService ,V1.0.2 ,Build 10
13:48:40   SafeOperation ,V3.1.2 ,Build 9
13:48:40   UserTech ,V3.2.0 ,Build 8
13:48:40 Active project:  2011020810000012000227352 - 3

so your KSS is 8.2.22 and your ConveyorTech is 5.1.0... now, was that so hard?

B) Quick check in the ConveyorTech manual confirms that this version (5.1.x) is compatible with your KSS (8.2.x).

C) Same manual also tells you proper commissioning procedure (5.1 Start-up overview):

1 Connect the required hardware. (>>> 5.2 "Connecting the hardware" Page 13)
   2 Install the ConveyorTech software. (>>> 6.2 "Installing or updating ConveyorTech" Page 15)
   3 Edit the configuration data (optional). (>>> 7.1 "Editing configuration data" Page 17)
   4 Calibrate the conveyor. (>>> 8.1 "Calibrating a LINEAR conveyor" Page 25) or (>>> 8.2 "Calibrating a CIRCULAR conveyor" Page 26)
   5 Check the conveyor distance (optional). (>>> 8.3 "Checking the conveyor distance" Page 27)
   6 Calibrate the workpiece on the conveyor (optional). (>>> 8.4 "Calibrating the workpiece on the conveyor" Page 27)

All you have to do, follow the steps:

1 Connect the required hardware.

This means wiring resolver cable to RDC. Unfortunately manual does not mention it but it is VERY important that all shields are connected to housing of RDC box (contact through metal strain relief). Are you SURE this part is done? To which RDC port is your resolver connected (X7?).

2 Install the ConveyorTech software. (>>> 6.2 "Installing or updating ConveyorTech" Page 15)

According to your KrcDiag, software is installed. DONE!

3 Edit the configuration data (optional). (>>> 7.1 "Editing configuration data" Page 17)

This step has several sub-steps and requires configuring several files:
i) MOTIONDRV.INI, done

ii) MDRCONVEYOR.INI, according to log files you have done this few times (and deleted old entries). I checked file content it is NOT matching manual.
Manual calls for "TRACE_INDEX=0" while you use "TRACK_INDEX=0". Notice spelling difference.

iii) $CONFIG.DAT;
INT Z_CONV_AMOUNT=1; ok
BASE_NAME[11,]="CONV1" ok
MACHINE_DEF[11]={NAME[] "CONV1",COOP_KRC_INDEX 0,PARENT[] " ",ROOT {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},MECH_TYPE #CONVEYOR,GEOMETRY[] " "}; ok
INT Z_CONV_TIMER_NBR=1; possibly ok, did't check if anything else is using timer 1. actually reset in Conv_follow.src is hardcoded to timer1 which is clearly not right. this works when using default timer but would be an issue if user selects different one. i guess this line should be $TIMER[Z_CONV_TIMER_NBR]=0 instead $TIMER[1]=0

etc. (i am tired, this is your job)

4 Calibrate the conveyor. (>>> 8.1 "Calibrating a LINEAR conveyor" Page 25) or (>>> 8.2 "Calibrating a CIRCULAR conveyor" Page 26)

You need to choose calibration procedure based on geometry of your conveyor (linear or circular)....

5 Check the conveyor distance (optional). (>>> 8.3 "Checking the conveyor distance" Page 27)

Optional... (but good test)

6 Calibrate the workpiece on the conveyor (optional).

Optional....

Quote from ezzine

3)i can't really figure out this line "actually reset in Conv_follow.src is hardcoded to timer1 which is clearly not right. this works when using default timer but would be an issue if user selects different one. i guess this line should be $TIMER[Z_CONV_TIMER_NBR]=0 instead $TIMER[1]=0''

then don't worry about it...

that is an array... you have to use square brackets after variable name. if you specify index, it will show you one element only but without index value (square brackets empty) you will see all array elements.