Hi, friends, thanks in advance just for your time. I would like to request your help with an issue.
I'm working with a
KRC4 COMPACT
KS V8.3.450
PROFINET KRC-NEXXT VERSION 3.3.1
I finished the Automatic external configuration and modified the cell to work with my programmed steps.
In order to start the automatic external I do the following:
1._ go to T1
2._ SELECT TOOL AND BASE
3._ SELECT CELL
3._ DO BCO UNTIL IT SAYS INCORRECT MODE ( BECAUSE ITS TIME FOR EXTERNAL INITIALIZATION)
4._ CHANGE THE KEY TO EXTERNAL
5._ DRIVES ON PULSE, CONF_MESS AND EX_START FROM THE PLC
6. SENDING PROGRAM, PARITY AND VALID PROGRAM
AFTER FOLLOWING THE SEQUENCE OF THE SIGNALS IT APPEARS THE MESSAGE
BRAKE HOLDING TORQUE A6 EXCEEDED:
THINGS TO NOTE:
1'_ the robot have not made any movement at all
2._ even though it is or suppose to be on step 1, it says that the origin is on cell.
Thanks in advance for any help!.
this is my cell:
&ACCESS RVP
&REL 1
&COMMENT HANDLER on external automatic
DEF CELL ( )
;EXT STEP_0()
;EXT STEP_1()
;EXT STEP_2()
;FOLD INIT
DECL CHAR DMY[3]
DMY[]="---"
;ENDFOLD (INIT)
;FOLD BASISTECH INI
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
BAS (#INITMOV,0 )
;ENDFOLD (BASISTECH INI)
;FOLD CHECK HOME
$H_POS=XHOME
IF CHECK_HOME==TRUE THEN
P00 (#CHK_HOME,#PGNO_GET,DMY[],0 ) ;Testing Home-Position
ENDIF
;ENDFOLD (CHECK HOME)
;FOLD PTP HOME Vel= 100 % DEFAULT;%{PE}%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT
$H_POS=XHOME
PDAT_ACT=PDEFAULT
BAS (#PTP_DAT )
FDAT_ACT=FHOME
BAS (#FRAMES )
BAS (#VEL_PTP,100 )
PTP XHOME
;ENDFOLD
;FOLD AUTOEXT INI
P00 (#INIT_EXT,#PGNO_GET,DMY[],0 ) ; Initialize extern mode
;ENDFOLD (AUTOEXT INI)
LOOP
P00 (#EXT_PGNO,#PGNO_GET,DMY[],0 )
SWITCH PGNO ; Select with Programnumber
CASE 1
;P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
STEP_1(); Call User-Program
CASE 2
; P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
STEP_2(); Call User-Program
CASE 3
;P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
STEP_2() ; Call User-Program
DEFAULT
P00 (#EXT_PGNO,#PGNO_FAULT,DMY[],0 )
ENDSWITCH
ENDLOOP
END
this is my step 1:
&ACCESS RVO1
&REL 22
&PARAM EDITMASK = *
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
DEF STEP_1( )
;FOLD INI;%{PE}
;FOLD BASISTECH INI
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
BAS (#INITMOV,0 )
;ENDFOLD (BASISTECH INI)
;FOLD USER INI
;Make your modifications here
;ENDFOLD (USER INI)
;ENDFOLD (INI)
;FOLD PTP P1 Vel=85 % PDAT1 Tool[1]:LabelApplicator1 Base[1]:M95_Conveyor;%{PE}%R 8.3.48,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P1, 3:, 5:85, 7:PDAT1
$BWDSTART=FALSE
PDAT_ACT=PPDAT1
FDAT_ACT=FP1
BAS(#PTP_PARAMS,85)
PTP XP1
;ENDFOLD
;FOLD WAIT Time=0.5 sec;%{PE}%R 8.3.48,%MKUKATPBASIS,%CWAIT,%VWAIT,%P 3:0.5
WAIT SEC 0.5
;ENDFOLD
END