Anyone have steps for establishing a wall mount kr10. Changed $ROBROOT in the machine.dat... Robot did not agree with my changes. I have been having a hard time finding any help in the kuka books.
wall mount
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aallport91 -
August 11, 2018 at 4:37 PM -
Thread is marked as Resolved.
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I guess that makes two of us... I am having hard time to get people to be specific when asking for help.
For example use full product name and version, explain how you made the change and where, what happened next or why do you think it is “not working” etc. -
krc4 kr10 rotating 90 degree to bolt to a wall (wall mount as mentioned)... everything points to change $ROBROOT to adjust from floor mount default to wall mount. Changed $ROBROOT c = -90. Did not allow any motiong. i dont have the alarms infront of me that came up. Typically safety stop however when ever something is jacked up. What are the correct steps to establish a wall mount is the point here. Not what went wrong. I can figure out what what went wrong when i see the correct steps.
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KRC4 is controller, is that what is being mounted on the wall?
But seriously, how and where you are making change? On the robot HMI or in WoV? On HMI using single variable monitor or editing file by hand? Are you logged in and how? If using WoV, what version? You got some messages, what are they?
See, I could give you set of steps but they may or may not work for you. Besides, what do I get in return? I am not asking for money, just cooperation. I try helping those who play along. This is a forum and idea is to exchange information and let others learn from mistakes. If you don’t want to reciprocate, that is fine too. You will just need to wait for someone else to answer your troubles or take training or pay professionals to provide turn key service.
Pick your poison...
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We use Wov 4.0 for all our project builds. What I was looking though was on the teach pendant is the $ROBROOT coordinates under machine.dat. I used the TP becasue i have not begun to look at Wov for this application yet. I made an adjustment to C in respect to which was the base of the robot has rotated to be mounted on the wall. (base to wall with connections pointed to the ground). What ever steps you have, I'm sure we can accomplish. I want to get the orientation correct before I run load data determination. Once I have the orientation correct i will update on what trouble i ran into, but also this is to rule out an electrical issue going on that will also be included in my update.
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if you are using recent version of WoV, you can change orientation simply by clicking on mounting option in MADA. then you have to deploy project. of course, before deploying project with WoV you need to make sure it is correct version for your KSS and that all KOPs and DTMs are integrated.
if you are making change on the robot using smartPad, can't use variable monitor ($ROBROOT will be read only). you need to login as expert and edit R1\MADA\$MACHINE.DAT, set B to 90 and save. effects are immediate.
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Shoot me. I did exactly that second step but let someone convince me i was wrong to rotate around Y. Thanks, ill follow up Monday evening with a new post discussing the servo power and orientation upon commission that we have experienced here.
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click here
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