Hello, I have a KUKA krc2 robot that has a milling motor on it. I would like my spindle to start when the program starts executing. The motor has its own frequency regulator that is powered independently of the robot's control box. Could someone tell me where I could get the impulse that, when the robot starts executing the program, will automatically turn on the spindle of the milling machine. Greeting
Power on spindle
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Uros Marinkovic -
January 9, 2024 at 2:00 PM -
Thread is Unresolved
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why not start and stop it by the robot program?
in the $config.dat add something like
CodeSIGNAL SPINDLE_ON_COMMAND $OUT[111] ; to be controlled by robot program SIGNAL SPINDLE_ON_OUTPUT $OUT[112] ; real output, used to control spindle
in your robot program add:
CodeDEF MAIN() ; SPINDLE_ON_COMMAND=TRUE ; ; do something with the spindle ; SPINDLE_ON_COMMAND=FALSE END
in your Submit add something like
of course this is an idea, adapt it as needed.
i would also add check if the spindle command is on and set robot speed to zero until spindle reaches speed etc.
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I don't think you understood me very well. I don't have any problems with the program part of starting the motor, but I need to know where I need to get the impulse from the robot's control box to give a signal to the frequency regulator to start the motor
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I don't think you understood me very well. I don't have any problems with the program part of starting the motor, but I need to know where I need to get the impulse from the robot's control box to give a signal to the frequency regulator to start the motor
I certainly don't understand. You don't have a problem with the program starting the motor, but you do have a problem? That's contradictory.
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well...
if the question is not about software, it must be about hardware.
Your controller needs IO (inputs and outputs) This is how controller interacts with the outside world.
Normally there is no IO on the robot or controller except on certain small robots (Agilus/KRC5).
So if you need IO, you need to add them yourself.
This means integrating them with KRC using workvisualThe other possibility was to plan in advance and add some IO on the purchase order for the robot.
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starting a spindle is actually a M Command
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If your robot is KRC2 type, you should have DeviceNet X801 on your MFC card (located in KPC) which can be used to add for example BK5250 DeviceNet coupler together with digital IO card, activate driver and do mapping of the signals in iosys.ini(inside there are also examples how to correctly map signals) and set coupler's macid in devnet.ini.
For KRC2 you can't use workvisual(only for KRC4,KRC5), but you do all the settings directly over the KCP.
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If you are from Slovenia, maybe I can help to you somehow.
Regards
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DannyDJ is correct, I missed the mention of KRC2 ...
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I do not understand your problem!
If you have a program in g-code then the spindle starts with a m-command. transfering this to a robot program then you set the output (like m-command) on that point.
(always worked for me - never had a problem)