getting started with KRC4 compact, on a kr10 r1100 sixx

good afternoon, i have a new to me used kr10 r1100 sixx with a krc4 compact controller. NO documentation . i can get the robot to move, and i can teach and run some basic programs from the pendant. I want to activate a few; one , really or 2 pneumatic solenoids to control a spray head. i believe the arm has several built in pneumatic solenoids. i think they are on digital I/0 7- thru 12. i can see the IO's are activating in the IO display, but i can not get air to flow on any of the 7 thru 12 io's

I have a kuka account, but i do not know which work visual to download. i can get to the installed options screen on the pendant, but trying to work thru the kuka website for the workvisual version i need is where i am lacking.

Is or was there a default IO for the onboard pneumatics ? i guess i incorrectly assumed the pneumatics would be on the IO 7 thru 12, if so i did not do something correct i can manually scroll thru the IO list and i can see some active IO on ports in the #1000 + area they do not have any names.

i am almost happy with what i can do so far. i just want one on / off solenoid for the spray head to start and stop spray, and i will be set.

I am relatively terrified of workvisual from the reading i have done so far. I can see my self getting into a lot more problems than solutions if i start with workvisual. so if there is a way to get just one solenoid to work either internal ( preferred ) or external ; without messing with workvisual iI will be super happy

any help is appreciated

thanks

i also just read a IO default post about the pneumatics . So i tried IO 1 thru 4 also no luck i do have continuous air flow from Air 1 on the base to port B1,2,3 on the arm.

thanks

Thanks DS, i just got done downloading workvisual 5.0.10 the kuka site indicated it was for krc4 version 8.2, 3, 4, 5. i have software 8.3

so that is done. i need to read some more. about how to install the package. on my computer. it has 2 different setup and 2 different installer files.

any help there is also appreciated.

where do the different controller options need to be specified?

i have a copy of a BA_KR_AGILUS_sixx_WP_en. manual i found the IO info for the pneumatics on about page 113. that is what got me onto the IO 7 thru 12 thing.

before i try and connect to the krc4. i have been reading about the IP address and how to mess that up. i am pretty confused on that. i understand there are some address to NOT USE on pain of robot death. but where i get lost is do i match the the address from the krc 4 exactly on my computer or do i need to change it to " something close to the krc4 ip address"

i thought i read that i need to change the IP address of my computer to the "something close " address but not the forbidden address and not the exact ip of the controller is that correct?

i thought that the new versions of WoV are not backwards compatible??? that is why you have to pick the one for your software version??.

i am downloading workvisual 6.0.28 . this will take another hour

aside from entering a ip address of death. are there any other gotchas to watch out for

just guessing here. but for this i will be disconnecting my computer from my internet/wifi. and i will be making a very small network with the krc4 and my computer only is that the idea?

i will need to get a new dongle? that connects from the LAN style connector to USB. my new is computer does not have a LAN connection

this will give me a bit of time to try and get more education.

does the WoV have a tutorial section?

My ignorance on this is pretty astounding

Thanks for your help DS

why are the 3 " a " pneumatic ports on the Rm already open

Well that Is? This morning the 3 " a " ports were open. I shut the system down. I just restarted the krc4. And now the A ports are closed and all 3 of the " B " ports are open.

There are 3 valves correct? Do they work in pairs? A,b 1. A,b 2. A,b 3?

my internet is not supposed to be this slow.

So after I map and assign a io to the valve. Will the valves segregate? As I said now all the "B " ports are connected. And at the previous power up it was all the " a" ports were connected.

I assume there is a manifold inside the arm of some sort. And this is normal . But it would not be good to have a pneumatic valve be turned on at every power up

ok WoV 6 is installed, and i am out of my league i think is this what i am trying to do with the onboard pneumatics

"

Field bus configuration

By the same principle, it is also possible to map inputs and outputs of the robot controller to each other. (In this case, the KR C I/Os tab must be used in both halves of the window.) "

i am not going to do this tonight, but is this in the ballpark

not in the ballpark i guess i will keep reading

good morning DS, thanks. i have to go to work tonight for a week. but i will get the usb to ethernet adapter and be ready next weekend.

once i have mapped the valves and saved them i don't have to repeat for every program correct? For now it is just going to be ONE program , with 1 on off . = start spray move, valve on while moving, move move move, valve off while moving . move back to home . spray on and off while moving would be nice, but not a deal breaker.

i read last night that the valves should not be open with power off the system.

My system does have air flow with the power switched off. If the valves are on when power is off, could that confirm the valves are already mapped????? If so as i said i did see some green IO spots in the list around the 1000+ mark. i am thinking to try and disable those and see if it shuts off the air-.

Are the solenoids at all noisy if it is quiet can i hear them activate and de-activate???

thanks