Good morning everyone, I was looking to see if someone could please help me out, I’m a tool maker/builder by trade and just started with the robots of the automation world. However our programmer quit and took all the cd's and books we had with him, I'm familiar with motoman's, but I am attempting to teach myself the Kuka, so far not to bad I can program moves and it runs great, I cannot connect via lap top so I am using pendant to program moves. my question is how do I add moves to open and close jaws for a gripper head I have been tryna get it but I'm missing something and it's prob very simple, if someone could give me some tips and also maybe a site I can go to download pdf files that would be awesome I keep hitting dead ends, I think it's because of my companies security blocks on certain web sites.
Thanks and have a good day
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- CTJohnB
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And what type of gripper are we talking about?
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thanks for the reply
just a standard MSC gripper, I am have an issue with the input controls aand getting air to turn on and off.
John -
do you know if your outputs work? did you try to toggle them? are they connected to solenoids? is source of compressed air connected? is gripper moving when you manually operate valves (override)?
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Yes they do Thank you for assisting, I cannot for some reason get the code to go into my program, I did my TCP's, I have safety cubes set up, the program runs. It’s weird I am sure it’s dumb as can be. Lol
Thanks for any and help, I really do appreciate everyone’s efforts to help me
John -
Yes they dowell, since outputs work, just need to program them. use menu Command to insert output commands...
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Can I set the IO address via the pendant or can that only be dove though the laptop. I can't get any response or am able to manipulate any of the IO's, I did use the command tab and no dice ? I basically need to create an IO to open and close gripper jaws.
Thanks John -
that contradicts what you stated before.
lets start from begin:
1. what is the KSS version you use (hint, check topic READ FIRST: http://www.robot-forum.com/rob…a-robot-forum/read-first/)
2. what type of IO you have there (maker, model, version, settings)
3. to what robot I/O are your I/O mapped and how?
4. do your IO work (do they respond when manipulated), if so, which IO are used for gripper, how do you manipulate them and what are responses?
5. if your IO are responding, are they wired correctly to your gripper?
6. do you have air connected to your valves? does manual override (pressing buttons on the valve) cause gripper to move? -
My apologies for the confusion, I am new to this. I will try to better ask my questions. Thank you for your patients. Very much appreciated. Ok so I have gone through the command tab established and labeled output # one to open the jaws, and output # 2 to close jaws, however when I run the program the jaws will finally now open, but will not close, and I configured Inputs the same ?
thank you for your help
john -
supposed you have outputs 1 and 2 as described. are you making sure only one of them is true/high?
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I finally got it; thanks. for some reason air lines for A/O ports 1 & 4 were swapped?? Doesn’t matter anyway, its working so that is a good thing and I do very much thank you for your help as well as your patients to assist me.
My next project is a Palletizing program, any food for thought or tips lol
thank you again
John -
palletizing is all about computing offsets...
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Did you buy an option package for palletizing, or are you trying to create your own?
Assuming the latter:
What is your palletizing pattern?
How complex is it? Are there rotations, different layers laid out differently?
How many items per dimension per layer?The best way to write a palletizing setup, in my experience, is to teach a Base that is congruent to the "zero corner" of the pallet, then perform Base shifts calculated by the index count per axis and the dimensions of the items being palletized. That way, you can generally just teach the "zero point", and have the palletizing math automatically shift over/across/up based on the X, Y, and Z-axis index counters.
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Thnak You for eveyobes help, I appriciate it a lot, not usre if theres a palatizing programor not, I have been teaching myself how to learn this robot, I have training scheduled by Kuka in Oct. so my goal is to learn as much as humanly possible to just review the basics and go right for the advances programming with the instructor, thats mmy plan anyway.
our Eng. that usually programs quit and never shared any info so its been interesting attemptting to learn something I've never worked with before so why I very much appriciate everyones help. I am having a hard time getting the software to for the lap top to function, can I do 100% of programming on the teach pendant with out using the lap top -
KRL can be programmed entirely on the pendant, but for complex programming, a PC editor is far superior. You can use any simple ASCII text editor like NotePad++.
One thing to watch out for is that programs created on the pendant add a great deal of "cruft" that is not actually used by the robot compiler, but is used by the teach pendant, to enable menu-driven programming. So when you create a program with the pendant, then copy it out to edit offline, what you see in the text editor can look much different from the appearance on the pendant. There is a decent KRL-specific editor for free from orangeapps.de, called OrangeEdit, which has different display modes that can help with this.
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Thank You Skyefire, ad panic mode as well you all have been a huge help
Thanks John
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