Hello, with the help of the SPRUTCAM program, I managed to get a src. and dat. file. However, when I import those two files into my KRC2, for some reason I cannot run the program. Searching the internet, I found that the two files should somehow be combined, but I can't find how to do it anywhere. I would like to ask people who can help me with this because it is causing me a huge problem.
Problem with importing programs into KRC
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Uros Marinkovic -
September 9, 2023 at 4:18 PM -
Thread is Unresolved
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HawkME
September 9, 2023 at 4:38 PM Approved the thread. -
not sure what you got there...
KRC modules are normally two separate files with same name but different extension (SRC and DAT).
SRC file contains program code (and local variables).
DAT file contains data points (so the values are retained even after reboot).
but when files are generated by CAD, normally everything is contained in SRC file - data values are hardcoded so there is no need for DAT file.
there is a limit to file size so large programs may be split into series of chunks that may need to me linked by user (I am guessing that is what you are dealing with).
in that case one can simply create new SRC file that calls each of the chunks in correct order.
something like Combined_Parts.SRC that would look something like this:
CodeDEF COMBINED_PARTS() SprutCam_Part1() ; calls program named SprutCam_Part1.src SprutCam_Part2() ; calls program named SprutCam_Part2.src SprutCam_Part3() ; calls program named SprutCam_Part3.src SprutCam_Part4() ; calls program named SprutCam_Part4.src END
as you can see, calling program names means simply typing in name or the program module followed by the parenthesis. do not specify path or extension, just name of the SRC file.
all files, including 'combined parts' need to be transferred to some folder on the robot inside KRC:\R1\...
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panic mode
September 9, 2023 at 5:31 PM Moved the thread from forum General Discussion of Industrial Robots Only to forum KUKA Robot Forum. -
for some reason I cannot run the program
That is so vague as to be useless. What happens when you load the files into the KRC? What happens when you try to run the module? What error messages?
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Dear, when I insert from my flash into KCP two src files. and given file and when I enter the src. file and I go to start the program in the lower (message) menu it says at the moment of starting the program (selection required). Looking for a solution on the Internet, I came across the orangeedit program, through which I should unite the heart. file and data. file so that the robot can read src. the file. I also found that it is possible to merge those two files in the KCP itself, but nowhere is it explained how to do it. Once again, I would like to ask for your help.
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KCP is just a teach pendant. There is no way to put files into KCP. teach pendant on KRC2 does not have any ports that would allow you to do that. Basically it works like a dumb terminal (monitor and keyboard) allowing you to interact with KRC.
KRC is a robot controller. This is where files can reside but - they can be in different places such as C:\ or D:\, USB drive etc. one of those places is a RAM drive, this is a special place with drive letters KRC:\. you need to transfer your programs to the RAM drive, more specifically you need to transfer them to the robot folder KRC:\R1\... such as KRC\R1\Programs
When the transfer is done, it is not just a simple file transfer (copy file) like with every other drive or folder - files transferred to KRC:\ also get automatically compiled immediately after transfer. This is needed for KRC to determine if files are usable (executable). If they are not deemed good, they will have different icon or may have a red X across the icon or maybe the file icon will not be displayed at all...
you need to tell us if transfer and compilation looked ok.
Also KRC has two ways to access and display files:
OPEN = used to load file into editor. basically this is just a text editor. here you can see the file content and edit it but you cannot execute code from here. you can OPEN file even if it is not ok (corrupt, not compiled etc.) and even if it is not on KRC but one of other drives. for example you can open file that is on USB stick.
SELECT = used to select program for execution. this only works for files that are already transferred to KRC:\R1\... and if they compiled ok.
so what you want to do is:
1. put your files on USB stick
2. connect USB stick to KRC
3. on the KCP login as Expert. then you will be able to see the USB drive.
4. transfer files from USB to KRC:\R1\Programs. KRC will try to compile files. if they look like KRL module and have no red X across the icon, compilation is successful.
5. SELECT file (do not OPEN it). When selected, you will see instruction pointer near top of the program and R icon in S-I-R (this is robot interpreter) will change from gray to yellow (ready for execution). If you make mistake and OPEN file, you will see the code but there is no instruction pointer near top of the program and and R icon stays gray (robot interpreter has nothing to execute).
6. make sure to test program at low speed:
a) make sure T1 mode is selected.
b) make sure no EStop is pressed
c) press (and hold) enabling switch in mid position (drive icon will turn green, that is I in S-I-R)
d) while still holding enabling switch (and drives are enabled) press and hold Start key
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In order to follow panic modes sugesstions 1 to 6d one little note:
All this is only done within the user interface! Only the user interface (BOF) will copy from hard drive to memory.
Note:
Screen shots can be very helpful
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MOM I'm not sure that I understood you very well, could you explain it to me a little bit? Also not sure what (BOF) means
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BOF is German for HMI (BenuzerOberFlaeche = Human Machine Interface)
MOM is saying that you are not good at explaining the problem and therefore should try using something else. more concretely instead of vague descriptions try sharing actual screenshots, program files etc.
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Dear, I did according to your instructions, however, when I transfer the program from USB to R1, I have a red X on the icon of the module, as well as on the heart itself. and given files. In the bottom (message) window I have a message that reads /R1/program_name: 1544 COMPILATION ERROR. I would post pictures but I don't know how to do it on this site
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Then how about posting your program? Any other messages? Usually there is also one stating the line of code with invalid instructions. Maybe it is only to big. Try the same with a small example.
Fubini
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Actually a good start would be just telling us the KSS Version you have.
KR C2 works with win95 and KSS V4.1 and also with WinXPe and KSS V5.2
(different memory management)
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Yes, that was the problem, I saved the file with type A only src. and works to recognize and develop that program. Now I have another problem, when I run that program, the robot goes to hit itself, and in the simulation of the program it is not part of the path. I'm thinking if it has something to do with the coordinate system of the robot and the coordinate system set in the program. Could someone give me an answer to this question?
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It seems that you did not calibrated your robot TCP or you missed to do the ABC 2 point calibration and insert the data in Sprutcam.
I recommend you to ask your Sprutcam reseller to help you with this as it seems that you have very limited knowledge what is required.
In short -1. You need to do your tool measurement - in the Kuka control panel - setup-measure-tool-XYZ 4-point method and follow the instructions. Afte
2. You need to define your tool orientation - there is a specific method in Sprutcam Machine maker - you measure long tool + measure a short tool, enter your data in the Machine maker and you will have the ABC data of the spindle
3. You need to get your Base coordinates - 3 point method - setup-measure-base - using the already measured toolAfter all this, with this data - tool and base - inserted in SPrutcam - you can generate code and try again
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Thank you very much for the answer, I'm just curious that when I go into the Position of the robot and then into Cartesian, I have coordinates X,Y,Z and A,B,C. Are those coordinates derived from the world coordinate system that is at the bottom of the robots and how could I know if it is good or if some calibration should be done. Thanks again
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this depends on what your program uses.
Tools 0-16 (0 is robot flange, or 1-16 of user defined tools)
Base 0-32 (0 is world or 1-32 user defined frames)