Hello everybody,
I have a problem, my robot is kuka KRC4, I used Profinet with PLC, when the gate is open, I can move the robot, wich is the problem?
Help!!!!
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oscuriden -
May 31, 2018 at 12:49 PM -
Thread is marked as Resolved.
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Every robot can be moved with fence open. What is your point?
Guards must be in place when robot is in automatic mode
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You can move the robot with E2, the problem is the PLC use a VASS bud the robot is KRC4 not VKRC4
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the robot shlould not move with the open door
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What mode is the robot in?
In T1 mode, it is standard to be able to move with the door open.
In AUT or EX modes, motion should be impossible with the door open.
In T2 mode, it depends on your specific configuration.You have provided no details regarding your safety configuration, what signals you are using, or what tests you have done. How have you set up the Operator Safety inputs to the robot, and what is controlling them?
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Thanks for you anwser,
when I can change the configuration for move in T2?
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There should be a configuration option to remove T2 from the robot entirely, but I don't recall exactly where it is on a KRC4 -- someone else will probably remember, though.
If you don't want to remove T2 entirely, then you need to change your external safety system to detect when the robot is in T2, and disable Move Enable when T2 is selected and the gate is open.
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[size=2]1. Login as Expert[/size]
[size=2]2. Open file: C:\KRC\Roboter\Config\System\Common\CabCtrl.xml[/size]
[size=2]3. Find line: <OpModes T2="on" AUT="on" EXT="on"/>[/size]
[size=2]4. Change it to: <OpModes T2="off" AUT="on" EXT="on"/>[/size]
[size=2]5. Perform cold boot with reload files.[/size]