Hi,
I am trying to use the mx automation function blocks to complete the master reference test on my kuka robot. Whenever I run the function block, the robot interpreter is stopped. I have properly (at least from what I can see) input the speed and mastering position to the kuka, and I am executing the function block in buffer mode 2 (Buffered).
I have also tried mastering the robot manually (with the smart pad) and this is working. The reference position I trained in the masref_user.src is the same as the one in the MasRef function block.
I am using the following:
KR 70 R2100, KSS 8.74, mxAutomation V3.2.2, SafeOperations V3.6
Mastering test is completed with the reference switch at the cabinet
Mastering robot through mx automation
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Bradhoffm -
December 3, 2022 at 5:55 PM -
Thread is Unresolved
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I have also tried mastering the robot manually (with the smart pad) and this is working. The reference position I trained in the masref_user.src is the same as the one in the MasRef function block.
I don't think that'll work. MasRefMain and MasRef_User also contains some code that tells the safety module to check the MasRef switch. There's also a time limit, the robot has to move to the switch, trigger the MasRef sensor check, and move away from the switch within a few seconds -- the safety module monitors the switch both being triggered, and released, vs the robot's motion.
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I am trying to use the mx automation function blocks to complete the master reference test on my kuka robot. Whenever I run the function block, the robot interpreter is stopped.
how about posting some screenshots? what does it mean "interpreter is stopped"? are there any messages? where the program stops exactly? How exactly is mastering reference switch approached? Is the mastering reference position saved in Safety Configuration and matching the programmed move?
I have also tried mastering the robot manually (with the smart pad) and this is working. The reference position I trained in the masref_user.src is the same as the one in the MasRef function block.
Wrong wording in title and posts... please change both - "Mastering reference test" is not the same thing as "Mastering":
Mastering is manual process and very accurate, it is done in T1 mode.
Mastering reference check is a very coarse process, done by running a program and that can be done in any mode even at high speed.
You did not mention type of PLC used, but the mx function blocks are the same on all platforms.