Posts by ChristianLiinHansen

  • Using KUKA.SafeOperation and avoid

    Yes the last thing, i.e robot was moving without speed reduction which triggered something in the safety controller and initialized dynamic braking.

    Anyway, I might swap KUKA.SafeOperation with just limiting the robots workspace. There I discovered that I can define up to 8 cuboids, which are not safety related, but that do not matter in my case, because the robot can not reach the safety fence, including the reduced distance due to that the safety fence is made out of grids, not polycarbonate.

    So again all I want is to have a limited space, where my mechanics like pallet conveyors are not damaged if someone makes a wrong position or use T1 wrongly.

    So these workspace limitation seems to be the way to go, but I am not sure how this works, when there is only one TCP and not as in SafeOperations the possibility to define a lot of spheres of your tool. So I guess there will be some sort of manual work to use the standard workspace limitation, I guess.

    Inputs/comments are really appreciated 😊👍

  • Using KUKA.SafeOperation and avoid

    Hi all.

    I am using KUKA.SafeOperation 3.6 and have defined my workcell as shown in attachment. These covers in real life different conveyors and gantry with sensors - i.e. pure mechanical stuff, that I want to protect in case that operators someday take the TP and jog the robot manually around. Then I have these restricted zones, which is always ON and hence the robot can not manually be jogged into mechanical obstacles. The other major point of using this, is in case that somehow the system stops, and operator is calling cell.src from a random position, I want to ensure that the robot will stop before colliding into obstacles. There might be a better way to move the robot safely back to its home position, I honestly don't know, but I just saw in an other projects that the main program of the PLC was re-initialized and then requested robot to move to its homeposition with result of sending the robot back to home position through a tool rack and made a major collision :thinking_face:

    Therefore when buying the robot, I also added the KUKA.SafeOperation - just in case, to try to avoid this kind of situations.

    Anyway, now I have applied this KUKA.SafeOperation and it works OK. After working with KUKA.SafeOperation I found it to be not that well suited for this task, i.e. only protecting for mechanical collision, because I will be driving fast to different conveyors. I think KUKA.SafeOperation is better when you have larger distance to your objects in the cell and want to trigger the zones ON/OFF, when people need to access the cell.

    Anway, just to explain the robots task: The robot will take obstacles from a pallet section and place the obstacles to other conveyors. See 3D simulated world below:



    So, what is my problem really? :smiling_face:

    My problem is, when safe monitoring is enabled, is that when I am getting close to my different protected zones, the robot starts to slow down. I.e. the acceleration and speed are reduced - which causes cycle time loss. I get this warning:
    "Safe robot override reduction active - KSS00470".

    I would like to still be able to run as fast as possible with the robot, so I was consulting the manual.

    What I found was that, I could disable this feature, (I guess), by setting $SR_VEL_RED = FALSE, but this flag is located inside the MADA, i..e machine data.

    My question is then : Is this "safe"/OK to start changing, or is it totally no go to start modifying the machine data, i.e. ;KRC:\STEU\Mada\$custom.dat

    Anyone that have other nice experience using KUKA.SafeOperation?

    Another idea was to shrink the volume of the different spaces, but then they do not protected the mechanical conveyor, sensor gantry etc and then the hole point is wasted. And I am not able let the robot move in a larger distance away from the protective zones, because I need to get close to e.g. a roller section with the robots tool in order to get the obstacles and move them to an other pallet section. E.g. in one situations I am like 5 mm of space between the tool and the roller of a conveyor.

  • KR C4 SmartHMI Unhandled Exception

    Hi all. I dont know if this can be any help to some of you out there, but I faced this issue that Righty is suggesting. I read through all the answers, but none of them was actually not covering the root cause for my situation. To start with: What did I do?

    I wanted to define in the config.dat a signal, but it was actually only a bit. I was used to use 8 and 16 bits values, so I had a bad habit of always use $IN[x] to $IN[x+y]. When I had to define a single boolean, I just thought stupid that I could still use $IN[x] to $IN[x]. And I got no compile error and all program was running fine.

    So yes, I might be stupid making this error, but the "fun" part, was that the system did not actually crash just after download. It was crashing, when the IN_PT"_TILT_STACK_SENSOR was used. So this was why I did not detect the error, because the broken part was not used, before the day after, so I did not suspect this to be the root cause.

    So my advice if you get this $CONFIG not correct not correct, please go to you config.dat file in Windows and check if you are using the SIGNAL name $IN[x] to $IN[x]

    (The teach-pendant do not show up the normal KSS system, so you have to use mouse and keyboard directly into the teach-pendant and browse the files directly in Windows). When clicking on the "OK" button where it is prompted: "The application must shut down", you only have the Windows platform shown in the teach-pendant. Therefore go to the following path: C:\KRC\ROBOTER\KRC\R1\System\config.dat

    Note: The System folder is hidden, so in the Windows click on "View" and select, show hidden folders.

    I really wanted to upload more pictures, so people can see more clearly, what happen, but somehow I am only allowed to upload 2 files :smiling_face:

    I hope that this somehow can aid people out there, because it was definitely not clear for me, that having this little bug, made so much chaos and frustration.

  • Idea for slowing down robot, when PLC sends trigger signal over ProfiNet.

    Quote from SkyeFire

    I agree with Panic. Generally, you want to get in and out of an ISR as quickly as possible, except in situations where you're actually stopping the robot process (IR_STOPM comes to mind). Ramping $OV_PRO in the SPS is probably the better way to go, here.

    Alternatively, using BRAKE or ROB_STOP in your ISR should achieve the same result, unless you really want a slow ramp-down.

    Hi SkyeFire .

    So the tool of the robot will carry a relative large load, so yes I really want a slow ramp-down of minimum 3 sec or something. Not stop immediately. but spend minimum like 3-5 sec to ramp slowly down...

  • Idea for slowing down robot, when PLC sends trigger signal over ProfiNet.

    Hi out there.

    I want to run two interrupts, triggered over ProfiNet at $IN[401]. When signals go TRUE, the robot should ramp down in speed, wherever it is, and stop within like say 2-3 sec. And when signal is FALSE, the robot should ramp up again. My idea was as followed in this test program below, where I declare the interrupts as below:

    Code
       INTERRUPT DECL 30 WHEN $IN[401] == TRUE DO ISR_SlowSpeedTestTrue()

   INTERRUPT DECL 31 WHEN $IN[401] == FALSE DO ISR_SlowSpeedTestFalse()

    Full test program:

    ISR for Slowing down the robot.


    ISR for speeding up the robot again...


    I was looking into the manual and was thinking, that I should be able to override the acceleration, and I was trying to set

    $ACC, $ACC_OV etc, but it complained when I e.g. set

    $ACC.CP = 1.

    So therefore I went back to the OV_PRO version, and "manually" ramping down using decrementing the value with an wait statement. I think this is a bit ugly, so what is the best practice to do this?

    Thanks in advance...

  • How to monitoring the safety signals between robot and PLC?

    Hi all.

    So I am following the guide for setting up KUKA.SafeOperation. I am using ProfiSafe between PLC and robot and therefore I found out, that the PLC needs to set the safety bit. However, the PLC guys tells me that now the PLC is uploaded so they set this bit high, but how can I see it from the Teach-pendant?

    Normally I can go in "Display" --> "Inputs/outputs"--> "Digital inputs", but that do not show me any safety related signals, or does it?
    Also, I heard from KUKA, that I should not I/O map my safety signals, so in this case, I am a bit lost in how to actually see the safety signals. I.e. did the PLC guys set the right address HIGH or LOW? How to see this from WorkVisual or just the TP?

    Thanks in advance :smiling_face:

  • Override Speeds

    Very nice safety approach from panic mode .

    I was in a situation, where a PLC guy wanted to test his PLC program with the robot program in EXT mode, without my presence that given day. So I instructed him carefully what he should do and should not do. I however, couldn't get out of my head all the different "what if" scenarios when dealing with EXT mode. I was after that meeting all the time thinking about:"Well, what if he did not understood this correctly. What if he manually used the keypads to increase the speed to 100 procent? What if, what if, what if....

    So after the kids was put to bed, I drove out to work again, implemented the advice from panic mode and it work so nicely with the code below in the SPS.src.

    I just made the speed to 10% instead of 50% :winking_face:

    Code
    IF (($MODE_OP<>#T1) and ($OV_PRO>75)) THEN
   $OV_PRO=75
ENDIF

    Now I can sleep much better until I get back to work again. Perhaps he will complain the robot was too slow in automatic mode, but hey... Safety first! :smiling_face:

  • SYS-X42 - Increasing number of communication faults (Lost Frame)

    Hi Robot forum.

    So with my current system, I am encountering this warnings, like seen below:


    SYS-X42 - Increasing number of communication faults (Lost Frame)



    Something that I found really strange is also that, I am not able to change my IP address of the robot. I was doing this because, I wanted to do some debugging, but I found out that it was a Windows update on my PC, that cause me not to be able to ping the robot. The IP address of the robot was 192.168.10.50 and then for just a little of debugging, I changed the IP address of the robot to 192.168.10.51. I actually forgot to change the gateway, but now the strange thing comes:

    - When I am logged in as "Administrator" on the robot, and I go to "Start-up" --> "Network Configuration" --> Fixed IP and change e.g. to 192.168.10.51 (and also change the gateway to the same IP address, 192.168.10.51), do a "Cold Start" with "Reload files" checkmark, the IP address goes back to 192.168.10.50.

    And now this SYS-X42 warnings comes up after app. 1 minute after restarts.

    So first thing: Does SYS-X42 have something to do with changing of IP address?
    Does anyone else have a clue on why this SYS-X42 happens and some debugging steps to get this warning removed?

    I look in the ProfiNet communication and here there is fine communication. E.g. sensor values are read fine over ProfiNet, if I e.g monitors the values when I am moving my hand in front of the sensor. However, I also head that SYS-X42 was also not something with ProfiNet communication but more internal communication inside the KRC.

    Looking forward for your replies...

  • Change a $BASE in order to calculate new position of a box that has been rotated

    Hi out there.

    So I have a question in terms of trying to rotate a BASE frame.


    So below I have a yellow box and a green box. I know the following:

    1) I know the intersection point i.e. where the origin of the two BASEs are.
    2) I know the center of the yellow box, which is indicated by the yellow small circle.

    3) I know the angle between the yellow box and the green box.

    4) I know the dimension of the box. Width is 500 mm and length is 700 mm.


    What I would like to get is:
    a) I want to calculate the green small circle location.


    My idea was as followed:

    1) Can I not just create a BASE_normal frame and then do something like this:

    $BASE_normal.X = 0

    $BASE_normal.Y = 0

    $BASE_normal.Z = 0

    $BASE_normal.A = 0

    $BASE_normal.B = 0

    $BASE_normal.C = 0

    Then generate a new base like this:

    $BASE_rotated.X = 0

    $BASE_rotated.Y = 0

    $BASE_rotated.Z = 0

    $BASE_rotated.A = angle

    $BASE_rotated.B = 0

    $BASE_rotated.C = 0

    And then I using the information of the WIDTH and LENGTH of the box. (i.e. green and yellow are the same size)

    $BASE_rotated.X = LENGTH /2

    $BASE_rotated.Y = WIDTH /2


    Will I from there, be able to have the green circle location vased on the $BASE_rotated and from there I can order the robot to drive there?

    Or should I go the otherway of using the rotation matrix, i.e.

    Code
    |cos(angle) - sin(angle) |   * |x|  |sin(angle) + cos(angle) |     |y|

--> x = cos(angle)*x - sin(angle)*y
--> y = sin(angle)*x + cos(angle)*y

  • How to minimize a function call in WorkVisual, if the function contains many input arguments?

    Hi again.

    So another one, I would like you inputs to is:

    I have now a function, that returns a frame, (thanks for the tip, panic mode :winking_face: ) and that is awesome...
    However, when I now have to call the method and returning the intersection point (frame) in intersectionPoint below, I am getting this "eye-issue" about that the line gets too long in the horizontal way on the screen.

    Code
    intersectionPoint = IntersectionPoint(coeffOfLineBoxLength.A, coeffOfLineBoxLength.B, coeffOfLineBoxLength.C, coeffOfLineBoxWidth.A, coeffOfLineBoxWidth.B, coeffOfLineBoxWidth.C)

    Is there a way, where you can use "Enter" or simething else to make the code like below:

    Code
    intersectionPoint = IntersectionPoint(
coeffOfLineBoxLength.A, 
coeffOfLineBoxLength.B, 
coeffOfLineBoxLength.C, 
coeffOfLineBoxWidth.A, 
coeffOfLineBoxWidth.B, 
coeffOfLineBoxWidth.C
)


    Thanks in advance :smiling_face:

  • Does KUKA not support ELSIF?

    Hi out there.

    Just a quick question: 1) Is it true, that the term ELSEIF or ELSIF is not supported? I.e. if you have to check for multiple cases, you have to write like this:

    Code
    IF (a == 0) THEN
    ;Some thing happens. 
ENDIF

IF (b == 0) THEN
    ;Some other things happens.
ELSE
    ;Else something else happens... 
ENDIF

    Would be nice to skip the "ENDIF" for each ELSEIF you want to apply.

    Code
    IF (a == 0) THEN
    ;Some thing happens. 
ELSIF (b == 0) THEN
    ;Some other things happens.
ELSE
    ;Else something else happens... 
ENDIF

    I now that alternatively, I could use a SWITCH CASE, but on the otherside, I just want to confirmed if this is true with the ELSEIF missing...

Advertising from our partners