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Handle system errors in Ext mode

  • Agustin Costa
  • May 6, 2021 at 8:14 PM
  • Thread is Resolved
  • Agustin Costa
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    • May 6, 2021 at 8:14 PM
    • #1

    Hello,

    I have a pick and place system with a KR3 R540 robot with a KRC4 compact controller with KSS 8.6.6. It is commanded by a PLC so the robot is always in EXT mode.

    The issue I have is that I don't know how to acknowledge certain errors that happen sporadically like "Workspace error" for example without switching to T1 mode and acknowledging it manually. What I'd like is to handle this error by letting the PLC know what's happened and have the CELL.SRC be restarted so the robot does its return home motion and it can start again.

    This error doesn't seem to be acknowledged by using the CONF_MESS input so I don't know how to make so that it disappears and STOPMESS goes low.

    Can anyone help me with this?

    Thanks

  • DannyDJ
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    • May 6, 2021 at 9:12 PM
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    • #2

    Try and search for the file KrcExtConfMsg.xml in folder C:\KRC\Roboter\Config\User\Common i think.

    Write down message number and set parameter "AllowConfInExt="true" and reboot with reload files.

    <Message Number="123456" AllowConfInExt="true" />

    Maybe this will help.

  • Agustin Costa
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    • May 6, 2021 at 9:47 PM
    • #3

    Thanks! That's what I needed.

    Now, any idea on how to detect wether a specific error occurred so that I can notify them individually to the PLC?

  • panic mode
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    • May 6, 2021 at 10:26 PM
    • #4

    $OUT[1]=IsMessageSet(33333)

    $OUT[2]=IsMessageSet(55555)

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

  • Agustin Costa
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    • May 6, 2021 at 11:01 PM
    • #5

    Excellent! Thanks!

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Tag Cloud

  • abb
  • Backup
  • calibration
  • Communication
  • CRX
  • DCS
  • dx100
  • dx200
  • error
  • Ethernet
  • Ethernet IP
  • external axis
  • Fanuc
  • help
  • hmi
  • I/O
  • irc5
  • IRVIsion
  • karel
  • kawasaki
  • KRC2
  • KRC4
  • KRC 4
  • krc5
  • KRL
  • KUKA
  • motoman
  • Offset
  • PLC
  • PROFINET
  • Program
  • Programming
  • RAPID
  • roboguide
  • robot
  • robotstudio
  • RSI
  • safety
  • Siemens
  • simulation
  • SPEED
  • staubli
  • tcp
  • TCP/IP
  • teach pendant
  • vision
  • Welding
  • workvisual
  • yaskawa
  • YRC1000

Thread Tag Cloud

  • abb
  • Backup
  • calibration
  • Communication
  • CRX
  • DCS
  • dx100
  • dx200
  • error
  • Ethernet
  • Ethernet IP
  • external axis
  • Fanuc
  • help
  • hmi
  • I/O
  • irc5
  • IRVIsion
  • karel
  • kawasaki
  • KRC2
  • KRC4
  • KRC 4
  • krc5
  • KRL
  • KUKA
  • motoman
  • Offset
  • PLC
  • PROFINET
  • Program
  • Programming
  • RAPID
  • roboguide
  • robot
  • robotstudio
  • RSI
  • safety
  • Siemens
  • simulation
  • SPEED
  • staubli
  • tcp
  • TCP/IP
  • teach pendant
  • vision
  • Welding
  • workvisual
  • yaskawa
  • YRC1000

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  • errors
  • PLC
  • EXT AUT
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