thanks,I found it
Posts by m.dinio
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thank you very much
thats enough
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I have a couple of seven axis controllers so if you need photos or pictures of how to connect the add on cabinet just ask
Thank you very much, if possible, send the photos
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hello dears
error code : 8006 IBS 1 Master : BUS error 0xc81 segment 0.0
i replaced interbus pci card 3 times.
new opertion system and new krc 5.5.11
why am i get this error ?
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hello dears,
how can i make program with pause and resume program $in[N] ?
example?
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i don't want to back planned path i want to move command manualy by ptp {E1 deg}
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my src
Code
Display More&ACCESS RVP &REL 42 &PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe &PARAM EDITMASK = * DEF motiontest( ) ;FOLD INI ;FOLD BASISTECH INI GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( ) INTERRUPT ON 3 BAS (#INITMOV,0 ) ;ENDFOLD (BASISTECH INI) ;FOLD SPOTTECH INI USERSPOT(#INIT) ;ENDFOLD (SPOTTECH INI) ;FOLD GRIPPERTECH INI USER_GRP(0,DUMMY,DUMMY,GDEFAULT) ;ENDFOLD (GRIPPERTECH INI) ;FOLD USER INI ;Make your modifications here ;ENDFOLD (USER INI) ;ENDFOLD (INI) ;FOLD PTP P2 Vel=100 % PDAT2 Tool[1] Base[0];%{PE}%R 5.6.13,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P2, 3:, 5:100, 7:PDAT2 $BWDSTART=FALSE PDAT_ACT=PPDAT2 FDAT_ACT=FP2 BAS(#PTP_PARAMS,100) PTP XP2 ;ENDFOLD ptp {e1 0} ;FOLD WAIT Time=1 sec;%{PE}%R 5.6.13,%MKUKATPBASIS,%CWAIT,%VWAIT,%P 2:1 WAIT SEC 1 ;ENDFOLD PTP {E1 -10} ;FOLD WAIT Time=1 sec;%{PE}%R 5.6.13,%MKUKATPBASIS,%CWAIT,%VWAIT,%P 2:1 WAIT SEC 1 ;ENDFOLD ;FOLD PTP P13 PDAT11 RETR CLS Gun= 1 Tool[1] Base[0];%{PE}%R 6.1.2,%MKUKATPSPOT,%CRETR,%VPTP,%P 1:PTP, 2:P13, 3:, 5:100, 7:PDAT11, 9:#CLO, 11:1, 13:#FIRST $BWDSTART=FALSE PDAT_ACT=PPDAT11 FDAT_ACT=FP13 BAS(#PTP_PARAMS,PPDAT11.VEL) S_ACT.GUN=1 S_ACT.PAIR=#FIRST S_ACT.RETR=#CLO S_READY=FALSE TRIGGER WHEN DISTANCE=1 DELAY=0.0 DO USERSPOT(#RETR, S_ACT) PRIO=-1 PTP XP13 WAIT FOR S_READY ;ENDFOLD ;FOLD PTP P14 PDAT12 RETR OPN Gun= 1 Tool[1] Base[0];%{PE}%R 6.1.2,%MKUKATPSPOT,%CRETR,%VPTP,%P 1:PTP, 2:P14, 3:, 5:100, 7:PDAT12, 9:#OPN, 11:1, 13:#FIRST $BWDSTART=FALSE PDAT_ACT=PPDAT12 FDAT_ACT=FP14 BAS(#PTP_PARAMS,PPDAT12.VEL) S_ACT.GUN=1 S_ACT.PAIR=#FIRST S_ACT.RETR=#OPN S_READY=FALSE TRIGGER WHEN DISTANCE=1 DELAY=0.0 DO USERSPOT(#RETR, S_ACT) PRIO=-1 PTP XP14 WAIT FOR S_READY ;ENDFOLD END
dat file
Code
Display More&ACCESS RVP &REL 42 &PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe &PARAM EDITMASK = * DEFDAT MOTIONTEST ;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P ;FOLD GRIPPERTECH EXT EXT H50 (INT :IN,INT :IN,INT :IN,GRP_TYP :IN ) ;ENDFOLD (GRIPPERTECH EXT) ;FOLD SPOTTECH EXT EXT USERSPOT (S_COMMAND :IN,SPOT_TYPE :IN ) ;ENDFOLD (SPOTTECH EXT) ;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P EXT BAS (BAS_COMMAND :IN,REAL :IN ) DECL INT SUCCESS ;ENDFOLD (BASISTECH EXT) ;FOLD USER EXT;%{E}%MKUKATPUSER,%CEXT,%VEXT,%P ;Make here your modifications ;ENDFOLD (USER EXT) ;ENDFOLD (EXTERNAL DECLARATIONS) DECL BASIS_SUGG_T LAST_BASIS={POINT1[] "P14 ",POINT2[] "P14 ",CP_PARAMS[] "CPDAT2 ",PTP_PARAMS[] "PDAT12 ",CONT[] " ",CP_VEL[] "2 ",PTP_VEL[] "100 ",SPL_NAME[] "S0 "} DECL E6POS XP1={X 1879.94495,Y -12.7962303,Z 1945.01001,A 0.0,B 89.9997635,C 0.389989614,S 2,T 34,E1 7.0479331,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} DECL FDAT FP1={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE} DECL PDAT PPDAT1={VEL 100.0,ACC 100.0,APO_DIST 100.0} DECL E6POS XP2={X 1879.94702,Y -12.7962399,Z 1945.00696,A 0.0,B 89.9998627,C 0.389989614,S 2,T 2,E1 -12.4133301,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} DECL FDAT FP2={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE} DECL PDAT PPDAT2={VEL 100.0,ACC 100.0,APO_DIST 100.0} DECL SPOT_SUGG_T LAST_SPOT={GUN[] "1 ",RETR_CMD[] "#OPN ",CHOISE[] "#FIRST ",CLO_TM[] "0 ",PGNO1[] "1 ",PRESS1[] "0 ",PGNO2[] "1 ",PRESS2[] "0 ",SPOT_PARAMS[] "SDAT2 "} DECL E6POS XP3={X 1879.94702,Y -12.7962399,Z 1945.00696,A 0.0,B 89.9998627,C 0.389989614,S 2,T 2,E1 -30.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} DECL FDAT FP3={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE} DECL PDAT PPDAT3={VEL 100.0,ACC 100.0,APO_DIST 100.0} DECL SPOT_TYPE SSDAT1={GUN 1,PAIR #FIRST,RETR #OPN,CLO_TM 0,PGNO1 1,PRESS1 0.0,PGNO2 0,PRESS2 0.0} DECL E6POS XP4={X 1879.94702,Y -12.7962399,Z 1945.00696,A 0.0,B 89.9998627,C 0.389989614,S 2,T 2,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} DECL FDAT FP4={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE} DECL PDAT PPDAT4={VEL 100.0,ACC 100.0,APO_DIST 100.0} DECL E6POS XP13={X 1879.94702,Y -12.79632,Z 1945.00806,A -88.3409271,B 89.990097,C -87.9509277,S 6,T 26,E1 -25.3206406,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} DECL FDAT FP13={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE} DECL PDAT PPDAT11={VEL 100.0,ACC 100.0,APO_DIST 100.0} DECL E6POS XP14={X 1879.94702,Y -12.79632,Z 1945.00806,A -88.3409271,B 89.990097,C -87.9509277,S 6,T 26,E1 -25.3206406,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} DECL FDAT FP14={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE} DECL PDAT PPDAT12={VEL 100.0,ACC 100.0,APO_DIST 100.0} ENDDAT
userspot.src
Code
Display More&ACCESS RO &REL 137 &COMMENT User Spot Routines &PARAM KUKATPSPOT_VERSION = 1.0.0 DEF USERSPOT (CMD :IN,S :IN ) DECL S_COMMAND CMD DECL SPOT_TYPE S SWITCH CMD CASE #INIT INIT ( ) CASE #ADVSPOT ADVSPOT (CMD,S ) CASE #PRESPOT PRESPOT (CMD,S ) CASE #SPOT SPOT (CMD,S ) S_READY=TRUE CASE #RETR RETRACT (CMD,S ) S_READY=TRUE ENDSWITCH END ; END OF MAIN ;***************************** DEF ADVSPOT (CMD :IN,S :IN) DECL S_COMMAND CMD DECL SPOT_TYPE S WLD_STRT=FALSE PNUM=S.PGNO1 END ;(ADVSPOT) ;***************************** ;***************************** DEF PRESPOT (CMD :IN,S :IN ) DECL S_COMMAND CMD DECL SPOT_TYPE S GUN_RET=TRUE ;FOLD WAIT Time=1 sec;%{PE}%R 5.6.13,%MKUKATPBASIS,%CWAIT,%VWAIT,%P 2:1 WAIT SEC 1 ;ENDFOLD GUN_WRK=TRUE END ;(PRESPOT) ;***************************** DEF SPOT (CMD :IN,S :IN ) DECL S_COMMAND CMD DECL SPOT_TYPE S ;FOLD WAIT FOR ( IN 79 '' );%{PE}%R 5.6.13,%MKUKATPBASIS,%CEXT_WAIT_FOR,%VEXT_WAIT_FOR,%P 2:, 4:, 5:$IN, 6:79, 7:, 9: WAIT FOR ( $IN[79] ) ;ENDFOLD WLD_STRT=TRUE ;FOLD WAIT Time=4 sec;%{PE}%R 5.6.13,%MKUKATPBASIS,%CWAIT,%VWAIT,%P 2:4 WAIT SEC 4 ;ENDFOLD PNUM=0 WLD_STRT=FALSE GUN_WRK=FALSE END ;(SPOT) ;***************************** DEF RETRACT (CMD :IN,S :IN ) DECL S_COMMAND CMD DECL SPOT_TYPE S IF S.RETR==#OPN THEN GUN_RET=FALSE PTP {E1 -50} ELSE GUN_RET=TRUE PTP {E1 -30} ENDIF END ;(RETR) ;***************************** DEF INIT ( ) PNUM=0 WLD_STRT=FALSE GUN_WRK=FALSE GUN_RET=FALSE S_READY=TRUE END ;(INIT)
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external func
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dat file
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hi there
i want to move external axis with external structure.
but when i running program this error shown:1437 Reposition.
i want to skip xp(1 to n) position.
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hi there
how can i add 7th axis to krc1 controller.
my krc1 controller have pm6-600.
thanks
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i want to compare aro servo motor (servo gun) and 7th axis kuka servo motor.
aro servo motor x52 pinout with 19pin an 7pin (n.c.)
i want to connect this servo to rdc box
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where is gnd +24v panic? t
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Dear Forum,
I have a KUKA Motor (Siemens 1FK7081-5AZ91-1ZZ9-Z) which I want to test with a Panasonic Drive (MDBLN25SG) and interface the drive to a MASSO G3 controller.
I'm trying to mate the Encoder connections of the KUKA Motor to the Panasonic drive.
Siemens motor encoder has these 12pin connections - no clue what these mean.
pin1-S2, pin2-S4, pin7-R2, pin8-+1R1, pin9-1R2, pin10-R1, Pin11-S1, pin12-S3
Panasonic drive encoder has these connections - these are easy.
pin1-E5V, pin2-E0V, pin5-PS, pin6-PS(not)
The Panasonic documentation is very good but I can't for the life of me find any reference of what the Kuka/Siemens motor signals mean.
I need to connect these two units together.
Please can someone enlighten me.
Many thanks
Siemens motor encoder has these 12pin connections :
may you say what is the function of pins 3-4-5-6 ?
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hello dears,
Does anyone have any information on these cables xp1 to xp8 pinout resolvers ( kuka kr210 - kr c2)?
thanks
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configuring interbus output input and programming
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hi
i want to start a welding program from kr c2 controller,
i have psi 6300 bosch rexroth welding timer with interbus-pci communcation to robot and spot welding gun.
please help me .
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For the general conclusion, can the robot(kr210 with Positioning repeatability* ±0.06 mm or kr200 l140 comp) perform laser cutting (not very accurately) or not?
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get your robot measured. you want it to be ABS...
how can i measured our robots?yes i want it to ABS
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robot : kuka kr200L140 comp ed2005
i'm looking for +/-0.5mm accuracy
our robot year produced is 2013