1. Home
    1. Dashboard
    2. Search
  2. Forum
    1. Unresolved Threads
    2. Members
      1. Recent Activities
      2. Users Online
      3. Team Members
      4. Search Members
      5. Trophys
  3. Articles
  4. Blog
  5. Videos
  6. Jobs
  7. Shop
    1. Orders
  • Login or register
  • Search
This Thread
  • Everywhere
  • This Thread
  • This Forum
  • Articles
  • Pages
  • Forum
  • Blog Articles
  • Products
  • More Options
  1. Robotforum - Support and discussion community for industrial robots and cobots
  2. Forum
  3. Industrial Robot Support and Discussion Center
  4. KUKA Robot Forum
Your browser does not support videos RoboDK Software for simulation and programming
Visit our Mainsponsor
IRBCAM
Robotics Channel
Robotics Training
Advertise in robotics
Sponsored Ads

Safety Space function in kuka KRC2

  • AD3MIN
  • July 4, 2023 at 11:49 AM
  • Thread is Resolved
  • AD3MIN
    Trophies
    1
    Posts
    57
    • July 4, 2023 at 11:49 AM
    • #1

    Hai Everyone,

    I have a kuka KRC2 ed05 with Version:V5.4.14,I wonder if anyone can help me out with this. I want to restrict the movement of the robot inside its fencing area, set up a safety zone so that the robot does not move beyond the fencing area or hit into them.

    I worked on Fanuc before and we have option named as space function which required an input to move into specified area, do we have similar function in kuka? I found an option in the kuka, configure>Miscellaneous>Monitoring working envelope>workspace is that similar like space function in Fanuc? How can we implement the space function in kuka krc2?

    Thanks in Advance

    Advmin

    Images

    • 1688463446930.jpg
      • 245.35 kB
      • 1,471 × 1,200
      • 24
  • Fubini
    Reactions Received
    278
    Trophies
    9
    Posts
    1,889
    • July 4, 2023 at 12:50 PM
    • #2

    If you are looking for the safety zones feature you need to lookup SafeRangeMonitoring or SafeOperation packages. This is not(!) included by standard in KUKA and are are paid options that need specific hardware (safeRDW board) on KRC2. Contact KUKA for a quote.

    The screenshot above only shows non safe workspace monitoring functions. If only those are needed you can program them to be activated/deactivated on the fly. You need to set a workspace to #ON/#OFF. Could do it e.g. from submit by looking at a specific input. It goes something similar to this (I do not have a controller here to check syntax)

    Code
    IF $IN[34] THEN
       $WORKSPACE[1].MODE = #ON
    ENDIF

    Fubini

  • hermann
    Reactions Received
    407
    Trophies
    9
    Posts
    2,612
    • July 4, 2023 at 1:04 PM
    • #3

    The workspaces are not really the same as on fanucs, you can't configure an input where the robot waits before entering a workspace.

  • AD3MIN
    Trophies
    1
    Posts
    57
    • July 4, 2023 at 5:39 PM
    • #4

    Dear Fubini and Hermann,

    Many thanks for the reply,

    I have tried it only for the Z axis using workspace 1

    suppose Origin AS: {X 0, Y 0, Z 662, A,0, B 0, C 0}

    then

    Z1=200

    Z2=-200


    I wrote instructions as,

    IF $IN[5] THEN

    $WORKSPACE[1].MODE= #ON

    PTP P1

    ENDIF

    What will happen here? If the input number 5 is on then workspace[1] will turn on and Robot will move to PTP P1 which is with in range of Z1 and Z2.Is my understandings are correct?

    Regards

    Advmin

    Images

    • 10.jpg
      • 289.73 kB
      • 1,533 × 1,200
      • 17
    • 11.jpeg
      • 283.58 kB
      • 1,600 × 1,262
      • 12
  • Online
    panic mode
    Reactions Received
    1,280
    Trophies
    11
    Posts
    13,085
    • July 4, 2023 at 5:52 PM
    • #5

    if i recall there is no workspace mode #ON (though on older KSS that is possible) but the idea is on the right track.

    you do not want the logic in robot program because once the IF expression is evaluated, there is no coming back to it - once the robot has checked the input, it will continue based on input state at THAT moment. if input changes, after that, this will no longer be registered or responded to.

    hence, this is better done in submit (or using interrupt)

    Code
    ; place inside user fold of SPS.SUB
    IF $IN[5] THEN
      $WORKSPACE[1].MODE=#INSIDE_STOP
    ELSE
      $WORKSPACE[1].MODE=#INSIDE
    ENDIF

    but as already mentioned, workspaces are not safety spaces. this means they are meant for interlocking with other equipment (to prevent accidents that may cause hardware damage) but they are not suitable or rated to protect humans. to get safety spaces, SafeOperation option is needed.

    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

  • AD3MIN
    Trophies
    1
    Posts
    57
    • July 5, 2023 at 10:37 AM
    • #6

    Hello, Panic mode

    Many thanks for your insightful response.

    I realised that a workplace is not a safety interface, and as a result of our discussion, we want to purchase safeoperation in the future.

    Even though, as you indicated, I wrote the logic in the SPS, I am still curious about this workspace function.

    Code
    IF $IN[5] THEN
    $WORKSPACE[1].MODE=#INSIDE_STOP
    ELSE
    $WORKSPACE[1].MODE=#INSIDE
    ENDIF

    In cartesian workspace 1 I given parameter as

    suppose Origin AS: {X 0, Y 0, Z 662, A,0, B 0, C 0}

    then

    Z1=200

    Z2=-200

    Is that mean I got the Z axis operation range between 862 to 462 mm in the workspace 1?

    I opened a test program then created a PTP P1 in it the value of Z axis in that is z=667 mm

    Code
    test()
    INI
    PTP P1

    I will jog the Z axis outside of this operational range when I try to execute this programme. I'll run this programme after that. However, the robot is moving into its PTP P1 recorded location regardless if IN[5] on or off. Am I correct in thinking that the programme shouldn't execute if IN[5] is off? I am unsure of the cause.

    Thanks in Advance

    Advmin

    Images

    • 13.jpg
      • 272.75 kB
      • 1,557 × 1,200
      • 8
    • 12.jpg
      • 273.6 kB
      • 1,486 × 1,200
      • 8
  • hermann
    Reactions Received
    407
    Trophies
    9
    Posts
    2,612
    • July 5, 2023 at 10:58 AM
    • #7

    For you first tests forget about this switching off on/off the workspace, that was only a further leading example if you need something like switching workspace on the fly.

    Your setup doesn't work, think about the workspace as a square, if you set all coordinates except Z to zero, you won't get a square, you must set them to min/max possible values to create a square, otherwise you have a 'very very flat square with dimension zero'.

  • AD3MIN
    Trophies
    1
    Posts
    57
    • July 5, 2023 at 10:43 PM
    • #8

    Dear Hermann,

    Many thanks for your reply,

    I have set the values for x,y,z in the origin as: {X 2730, Y-192 0, Z 662, A,0, B 0, C 0}

    then Distance to origin as

    X1=200 X2=-200

    Y1=200 Y2=-200

    Z1=200 Z2=-200

    Mode:

    INSIDE

    I think I got a square box now

    What should happen now if I run my program test () ? I have created that PTP P1 within the workspace 1

    Code
    test()
    INI
    PTP P1

    I think the robot should not move to PTP P1 or inside workspace 1 if my input IN[5] is OFF? Is my understandings about the workspace are correct? Can anyone kindly explain how the workspace work in kuka krc2?

    Still the robot is moving into its PTP P1 recorded location regardless if IN[5] on or off.


    Thanks in Advance

    Advmin

    Images

    • 14.jpg
      • 271.42 kB
      • 1,514 × 1,200
      • 6
    • 15.jpg
      • 291.21 kB
      • 1,513 × 1,200
      • 6
  • Online
    panic mode
    Reactions Received
    1,280
    Trophies
    11
    Posts
    13,085
    • July 5, 2023 at 11:39 PM
    • #9

    you do not need to run program, workspaces work all the time even if you jog robot. so once you setup space, you need to move robot in and out of that space. while doing that keep an eye on the workspace status changes. if you configure it as #INSIDE, then corresponding signal will turn on when robot is inside defined space. read the manual.

    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

  • AD3MIN
    Trophies
    1
    Posts
    57
    • July 6, 2023 at 11:52 AM
    • #10

    Hai,

    Many thanks for that.

    I got it now, What I was thinking if the robot enter into workspace1 then IN[5] will turn on. Actually, in real OUT[5] is getting on/of based on the workspace1,I was monitoring input[5] instead of output[5]. Also I had different thought like Robot will not enter into workspace1 if IN[5] is off ,I got little confused with space function as in Fanuc.

    Thanks everyone for your valuable feedback.

    Cheers

    Advmin

Advertising from our partners

IRBCAM
Robotics Channel
Robotics Training
Advertise in robotics
Advertise in Robotics
Advertise in Robotics

Job Postings

  • Anyware Robotics is hiring!

    yzhou377 February 23, 2025 at 4:54 AM
  • How to see your Job Posting (search or recruit) here in Robot-Forum.com

    Werner Hampel November 18, 2021 at 3:44 PM
Your browser does not support videos RoboDK Software for simulation and programming

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
  • KRL
  • KUKA
  • motoman
  • Offset
  • PLC
  • PROFINET
  • Program
  • Programming
  • RAPID
  • robodk
  • 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
  • KRL
  • KUKA
  • motoman
  • Offset
  • PLC
  • PROFINET
  • Program
  • Programming
  • RAPID
  • robodk
  • roboguide
  • robot
  • robotstudio
  • RSI
  • safety
  • Siemens
  • simulation
  • SPEED
  • staubli
  • tcp
  • TCP/IP
  • teach pendant
  • vision
  • Welding
  • workvisual
  • yaskawa
  • YRC1000
  1. Privacy Policy
  2. Legal Notice
Powered by WoltLab Suite™
As a registered Member:
* You will see no Google advertising
* You can translate posts into your local language
* You can ask questions or help the community with your knowledge
* You can thank the authors for their help
* You can receive notifications of replies or new topics on request
* We do not sell your data - we promise

JOIN OUR GREAT ROBOTICS COMMUNITY.
Don’t have an account yet? Register yourself now and be a part of our community!
Register Yourself Lost Password
Robotforum - Support and discussion community for industrial robots and cobots in the WSC-Connect App on Google Play
Robotforum - Support and discussion community for industrial robots and cobots in the WSC-Connect App on the App Store
Download