Display MoreI have had issues using relative movements in the past (at least making Kuka SIm use them)
Something I've done before instead of the LIN_REL movement is:
DECL E6POS VAR_E6
VAR_E6=$POS_ACT
VAR_E6.Z=VAR_E6.Z+100
VAR_E6.A=180
LIN VAR_E6
yes A 180 is what you have to always add. This is new. Maybe a month or so
I have emailed kuka.. I will keep post solution if and when it comes..
SO weird... i reopened my old simulation where i had used LIN_REL {Z -100} and that too is acting weird in KUKA sim.. It is acting as expected in real world though...
go back to first one and change it to
LIN_REL {Z 100, A 180}
the rotation A 180 is the difference, not the X and Y values.
I had actually tried that too.. didn't work..
Hi,
Recently i used a LIN_REL statement in KUKA sim 4.3 where i had to move the robot in Z axis only.. When I wrote LIN_REL {z 100} instead of moving in z axis it started moving in X and Y axis. I had to rewrite it as LIN_REL {x 0, y 0, z 100, A xx} where i had to specify xx same as the previous move else it was going to A = 0. I have attached KUKA simulation. Previously i had used LIN_REL without x and y as specified in the instruction manual. anyone knows what might be the issue?
Display MoreInstead of disabling remote access, here's how to correct the issue:
* Navigate to Menu -> Configuration -> Miscellaneous -> Date and time
* Set the date/time accordingly to match your PC
See attached images for reference.
This is useful if you still want to use the "Programming" menu in WorkVisual and/or use RemoteSupportView.
It had done this before but didn't help. So that's why I took the other approach
Also you can change the $ADVANCE and see how the instructions are executed.
I have defined a variable PATH which shows which path the robot is following. See how it changes when you change $ADVANCE
Thanks Fubini for your on going help
Motion Blending KUKA.xls: Its English translate of Überschleifen-Kreuzvergleich.xls that Fubini shared.
Hi All,
Recently I was spending some time learning motion blending in KUKA. I am attaching the files that I found useful
1) Expert_Programming_manual: Explains the motion blending in details.
2) Motion Blending KUKA.xls: Its English translate of Überschleifen-Kreuzvergleich.xls that Fubini shared.
3) SIM_model_to_learn_motion_blending: Its shared as .txt but convert to .vcmx and open with KUKA SIM. Here you can change the motion blending parameters C_DIS, C_PTP etc and see how it affects the total time. Also you can change the $ADVANCE and see how the instructions are executed.
If moderator finds this info useless then apologies and can be deleted.
Quotebut if case advance run pointer managed to get back to "main program" (even though robot is still in a subprogram) the RESUME will try (and fail) to kill that program level (main prog).
Oh.. thats why... Awesome.. As always thanks a lot...
Display Morewhat is STOP_INT? interrupt trigger expression must be of bool type...
where do you enable interrupt?
using RESUME you can kill subprogram but not main program (level where interrupt is declared).
why don't you read the manual? there is a nice example and everything is explained. this is also covered in kuka courses.
you must stop advance run pointer from leaving sub that may be aborted by RESUME.
why don't you use CELL.SRC as an example (or working program)?
"When the RESUME statement is activated, the advance run pointer must not be at the level where the interrupt was declared, but at least one level lower."
what happens if the advance run pointer is at the level higher than where the interrupt was declared?
Thanks
Also if you are using BRAKE and RESUME in an interrupt function, the interrupt function has to be called from a subprogram and not from the main program where the interrupt was declared.
P1 declared interrupt P3 (LOCAL)
P1 called P2
Interrupt is switched on in P2
Interrupts calls P3
BRAKE and RESUME in P3
PP returns to P1
P1 declared interrupt P3 (LOCAL)
P1 called P2
Interrupt is switched on in P2
Interrupts calls P3
BRAKE and NO RESUME in P3
PP returns to P2
P1 declared interrupt P3 (GLOBAL)
P1 called P2
Interrupt is switched on in P2
Interrupts calls P3
BRAKE and RESUME in P3 : ERROR
P1 declared interrupt P3 (LOCAL)
Switches on P3
Interrupts calls P3
BRAKE or RESUME: ERROR
P1 declared interrupt P3 (LOCAL)
Switches on P3
Interrupts calls P3
No BRAKE or RESUME causes no error
PP returns to P1
And the reason for making sure the the ARP (advance run pointer) is not leaving the sub that may be aborted by RESUME is to make sure that when the RESUME statement is activated, the advance run pointer must not be at the level where the interrupt was declared, but at least one level lower.
Also you can use use resume only in interrupt functions and also not in globally defined interrupt functions
thank you for the clarification.
Hi,
So i understand the that CIP and normal Ethernet IP communication happens using the same X66 port.
My question is wouldn't having higher traffic on the same port because of normal tag link communication affect the CIP communication? Or KUKA prioritizes the CIP over tag link and when CIP is present it drops the tag link communication?
Sorry if the question is too naive
Regards 
I actually was trying for Robot to be Slave and PLC master, how do I know I have my setup this way?
I was able to communicate them by now, now I only have the doubt if I did set the PLC as master since it is what I am trying to do.
did you install eds on kuka side or PLC?
If PLC then PLC is master
IF KUKA then KUKA is master
Master always needs the EDS file
I made this for KUKA and OMRON PLC but can be used as a reference for other PLC too
Don't change the input output assembly number. Keep it as 101 and 102. Then use the kuka scanner adapter 4.1 (assuming you have 4.1 ethernet IP) eds on your PLC side. Or use a generic eds with the input output and configuration assembly as show in the kuka workvisual Local Slave 1 I.e. 101, 102 and 103. And also make sure that the byte sizes are matching on either side. I have done this setup many a times. Don't forget that the AB input output are defined in word while kuka defines it in bytes.
Lemme know if you stuck
i got the CIP safety working.
While using CIP and normal tag link, change the ScannerAdapter EDS
from
ProdType = 12;
ProdCode = 1;
to
ProdType = 140;
ProdCode = 2;
Use the attached file for the safety side. (First save the attachment and then change the extension to .eds, I couldn't upload the EDS). This is for 8 byte safety
