Posts by KK_Robotics

Hi fellow robot programmers.

Quick question...

Will this interrupt only work on a positiv egde ?

INTERRUPT DECL 81 WHEN DI_HEIGHT_SENSOR_SHORT == TRUE DO RecoverFoundShort()

Which result in, that the interrupt will only work if the signal is low, when you set the interrupt on ?

Thanks in advance.

Thanks all, this have been very help full!

Clever!

That will ofcourse split the GI automaticly, could it be that, this would not work on the virtual Robot ? or have i made the setups wrong ?

Hi guys,

Do anyone have experiance with splitting GI values into bits?

Like if the GI value is = 65535 is want to split that into 16 bits -> [1.1.1.1.1.1.1.1.1.1.1.1.1.1.1.1]

Hi RF.

Is it possible to export the DIOCFGSV.OI file into a text document without the text file getting crypted, making it possible to edited the IO's from the file, instead of creating and editting the IO's direcly on the robot?

As mentioned i have tried to open "DIOCFGSV.IO but it is crypted, so i cant see or edit anything from there.

Thanks in advanted.

Hi guys.

I am about to set up a simulation, and i need some of my mechanics to move, with the movement of the MU200

How do i set this up? anyone have a manual or something ?

Quote from hermann

Changing the safe tool by rapid wouldn't be safe, so there may not exist any way to change the safe tool by rapid. You always need some safety interface to change the active safe tool.

True..

But how would safemove know which tool that is phycically mounted on the robot? It could be a crossreference from a signal i get from each tool, but that still doesnt work?

I could change the question to - How do i tell Safemove, which tool is active??

Hi Everyone.

I have a existing ABB 8700 robot, which I have to equip with a tool change system.

I have made all the changes to my Safe Zones, and created 2 tools, and a “Tool” to use when I have no tool mounted.

To activate my tools, I need a activation signal, which I have created in “Safe IO Configuration” under global signals (There is no ProfiSafe on the robot). My problem is that I cannot manipulated the 3 “Global safety” signals from rapid code, not even if I try to manipulate by making a cross reference with a “normal” output signal.

I have read the manual, and I know the manual says that “Global Signals” is only for feedback to be read by Rapid.

Is there another way for Safemove to read signal from rapid, so I can change the active tool in Safemove, or do I need Profisafe Option to do this ??

Thanks

Hej Guys.

This might be a long shot, but i will try anyway.

I have a Robot, with the 7th axis mounted on the tool.

The 7th axis is mastered to be 0, and should go to 0 everytime the robot is reset.

Suddenly the feedback from the encoder return f.x 11mm, even though its physical is in 0.

This ofcouse gives me a following error, and somethimes a overcurrent fault. which make sense, because i can move to 0, if its allready there.

my solution so far, is to unmaster the external axis, and then remaster in the right position, and then it works perfekt again.

Are the maybe anyone, that have experienced the same, or maybe have some sort of solution ?

we have checked the tension of the belt, and also the condition of it, and its all fine.

Thanks.

It is stated in the manual that you only need the start_Axis if you have no Status or turn value, or that you are close to singularity.

I tried before i removed the "Start_Axis" to write "$Target_Status=#SOURCHE", but the result was the same.

The calculated result was = -28, but the actuel pos was -20.

Then i tried to remove the "Start_Axis", with the same result.

I tried to use like -171 instead of -180, just to varify that its not a problem at its from 0 to -180.

its like that the simulation is ignoring my tool rotation

The Robot is a KUKA KR 240 R3200 PA - 4 Axis.

It seems that everytime i have angle value In my E6POS other then 0, the calculated angle on axis 2 is wrong. Its like it "Forgets" That the tool is rotated -180

Example 1:

E6Tmpt=(x 600, Y 468, Z 445, A 0)

E6Result = INVERSE (E6Tmpt, $Axis_ACT, iError)

E6Result.A2 is equel to the actuel A2 axis Pos when the robot Reach the POS.

Example 2:

E6Tmpt=(x 600, Y 468, Z 445, A -180)

E6Result = INVERSE (E6Tmpt, $Axis_ACT, iError)

E6Result.A2 is NOT equel to the actuel A2 axis Pos when the robot Reach the POS

But if i move the robot to the "Pick" position, with a nonrotated tool, the calculation will match the actuel position.

(E6Result.A2 = -21) But the actuel axis pos will be (-5)

Make sense ?

"Err_Status" is what Kuka calls the "iError" in the manual.

The "WAIT TIME 0.1" Command, is a fault, should be "WAIT SEC 0.1"

And i am currently testing it, in KukaSIM4.0, but maybe that is the problem?

Hello.

I have some trouble with the Inverse Fuction in KukaSIM.

I try to use the INVERSE Function, to check if i can reach my Position,

and if i cant reach my position, i will try to recalculate it.

The problem is that, even if i cant reach the position, the err_Status never gives me a faultcode.

Anyone have some suggestions?

Thanks