Posts by LamNguyen

Quote from hermann

You must write the line

Code

go_297_override =... 

Outside of the

Code

If not $T1...
ENDIF

Otherwise it is updated only when override is higher than your default override.

Thanks bro! Let's me try

Quote from panic mode

if i understand correctly, PLC controls three Hitachi drives and at the same time it is connected to KRC.

you wish to make adjustments of the robot speed override and want PLC to know the value of the override so that it can do the same speed correction with the Hitachi drives.

to do that, map override to robot outputs that PLC can read, then do whatever you need in the PLC end.

the override range is 0-100 so 7bit would be sufficient (for example outputs 151-157 if they are free to use and in range that PLC can read).

so in the KRC\R1\$CONFIG.DAT declare signal

Code

SIGNAL OV_TO_PLC $OUT[151] TO $OUT[157] 

and in KRC\R1\SUBMIT.SUB, in the user fold (inside LOOP/ENDLOOP) add line such as

Code

OV_TO_PLC = $OV_PRO

on the PLC side do the same but the other way - copy value of those 7 PLC inputs into a variable and use it any way you like (scale it etc.).

Display More

So sorry I cant find the link "KRC\R1\SUBMIT.SUB"

I check the program and in KRC\R1\System\$CONFIG.DAT, i see that the declare

INT DEF_OV_PRO=100

SIGNAL go_297_Override $OUT[297]  TO $OUT[303]

And in KRC\R1\System\sps.sub like the picture

Robot not output the Speed Override via Output

go_297_Override

Pleae help!

Thanks

Quote from Fubini

Post

RE: Break test

Use forum search with keyword motiondrv.ini for additional info on how to activate brake test driver manually.

Fubini

Fubini

May 30th 2023

Fubini

Thanks Sir!

Quote from panic mode

not exactly. Safety Configuration plugin allows access to robots safety settings.

on KRC4 brake test is present on each system. and it can be used to test the motor brake at users discretion if and when needed (if motor brake is a suspect, after motor replacement, after use of manual release device etc.).

it is just that use of BrakeTest is not necessary (and not mandatory) - that is unless SafeOp is installed and activated. and that is what Safety Configuration is showing - if the BrakeTest is required/activated for the sake of safety.

Quote from panic mode

yes, how else would you check if the motor brake is still good?

But When I run BraketestREQ(), It not carry out and and show on one alarm below? What exactly is happening?

Quote from panic mode

not exactly. Safety Configuration plugin allows access to robots safety settings.

on KRC4 brake test is present on each system. and it can be used to test the motor brake at users discretion if and when needed (if motor brake is a suspect, after motor replacement, after use of manual release device etc.).

it is just that use of BrakeTest is not necessary (and not mandatory) - that is unless SafeOp is installed and activated. and that is what Safety Configuration is showing - if the BrakeTest is required/activated for the sake of safety.

Wow! That mean We can active brake test without Safe Operation?

Thanks by my heart!

Quote from panic mode

i used to be working for KUKA service (among other roles) and nobody will give you an unlimited support. everyone has things to do and no time for lengthy conversations or science projects.

so when you ask for help, better make sure it is something that is well defined so it is on point and quick and easy to answer.

For example "this is my KRC serial number, here is the picture of all the license stickers for the installed options. can you confirm if installed ProfiNet variant has Master capability or it can only work as a Slave?"

also check :

Post

RE: question about setting up KRC4 robot

This is needed to request software from KUKA.
robot-forum.com/attachment/35365/
robot-forum.com/attachment/35366/

panic mode

Aug 31st 2022

an example of bad question is "i have robot and want to program it/service it myself. please help"

it is nice and short but it will only give you one response - take KUKA training or contact KUKA service department.

when clients begin to hog hotline resources, they may pretty quickly get similar kind of response.

but clients that do their homework are much more likely to get most of the questions answered to their satisfaction. Note, KUKA is not just in business to sell you a robot. They want to be in business to maintain your robot. So of course they will want to know your name, address, robot info, run hours etc.

In other words they do want to talk to you.

Display More

Thanks for your enthusiasm!

I have check again my robot system following your point and I would like to send you some information. Please help me to check it if you can

1: This picture for information cabinet and robot

2: This information about all solfware and options

Quote from panic mode

check your robot packing list or license stickers inside the controller. for your software options. or call KUKA, share controller serial number and they will tell you what software you purchased. why is it that so many people buy product but then do not want to talk to manufacturer even though they have questions or problems?

Actually, We are a end user, one vendor buy Robot from Kuka so Kuka only support for them. We dont want to contact that vendor for some reasons and then we have contacted Kuka and received the limited support

We are grateful about your support and Thanks so much!

Quote from LamNguyen

Yes Sir!

From your point, I just check again about state software versions I am using ( Picture below)

Please help me to check Is it " -/S" or "M/S variant"?

Actually, I want to design with system including PLC is Master of Robot, Robot is Master of ET200 and of course ET200 is declared in Robot and not in PLC

Display More

Can someone help me to suggest for handling this problem?

Thanks so much!

Quote from SkyeFire

What does this mean?

What does this mean? If it means what I think it does, I'm not sure you can do any safety-related checks until after approving the checksum change. Why would you even try? Approving the checksum is the first thing to do after completing any SafeOp changes.

Year!

When I check another Kuka Robot System running on my site, i find that when i access safety configuration It's shown on below

that is my question. How to do switch Brake test from Deactived to Enforced? Install Safe Operation is mandatory?

Quote from SkyeFire

You add points to the programs located in /R1/TP/Braketest, as described in the manual, then run the BrakeTestReq program. This program must be run in AUT, EXT, or T2, as it requires full-speed operation.

Yes. I know, i have read manual and it is not successful

Quote from SkyeFire

You add points to the programs located in /R1/TP/Braketest, as described in the manual, then run the BrakeTestReq program. This program must be run in AUT, EXT, or T2, as it requires full-speed operation.

Thanks for your comment!

That's mean We can carry out the brake test inwhile Status of brake test is Deactived and checksum is inactive?

Quote from SkyeFire

SafeOp 1.1? Okay, that's older than any of the SafeOp versions I ever worked on. I think this would be a question best asked of KUKA tech support.

If you look in the D:\KUKA_OPT\ directory on the robot, there should be a subdirectory for SafeOp, and a copy of the PDF manual for that version of SafeOp should be in there. That might help as well.

You could replace the Mastering Reference Switch with your own sensor. KUKA provides the switch as a convenience, but any dual-channel, dry-contact (like a dual-channel relay) should serve. The trick is that SafeOp checks the moment the sensor triggers with the recorded MasRef position of the robot, with a tight time window. And both channels have to close/open together with a very tight time window. You would have to match the wiring of the MasRef cable where it connects to the SafeRDC, though.

Hi Sir!

How to active " Brake test" function?

There are some information about my system.

Thanks bro!

Quote from panic mode

read pinned topic READ FIRST. state software versions means literally that - list all software and their versions. software versions are 4 numbers. you only list 2 or 3 and only for two products. this is not granular enough to reproduce your scenarios or find if the the issue is due to particular product release or something else.

so workvisual version "6.0" is a quite lousy reference, because there are more than 20 releases in the "6.0" version, some better than others. really it should be something more details. Full version like "6.0.22.1476" or "6.0.22.Build 1476" would be nice though "6.0.22" will still be better than "6.0".

the same goes for KSS and all of installed tech options. Example:

Slaves can only have one master. So if the PLC is the master of your ET200 nodes, you have no choice but to make robot slave as well. Slave can only have one master but master can have several slaves.

All slaves IO would be mapped to some IOs and this becomes simply case of PLC programming.

you get to choose how to distribute the code - the more you put in PLC, the less control will be in the robot and vice versa.

IF you want robot to have the all control, just let robot control the gripper IO. For that you only need couple of lines of code in PLC:

and rather than dealing with this on a bit level using contacts and coils, you can use MOVE instructions to transfer bunch of signals at once.

Display More

Yes Sir!

From your point, I just check again about state software versions I am using ( Picture below)

Please help me to check Is it " -/S" or "M/S variant"?

Actually, I want to design with system including PLC is Master of Robot, Robot is Master of ET200 and of course ET200 is declared in Robot and not in PLC

Quote from panic mode

i used to install variety of KOPs in OL so that i can support different robots without constantly switching back and forth. if i remember correctly GripperTech versions 3.2 and 4.0 can be installed simultaneously (almost completely and correctly). this is possible when products are not using same resources (or different resources that use same name). in case of mentioned GriperTech products the only conflict according my faded recollection should be file with same name USERSPOT.SRC

Quote from massula

Depends.

If You have GripperSpotTech 4.0.7 properly installed on Your WorkVisual, You have its manual, under Catalogs windows.

Open the manual and check section 4.1 System Requirements. There You will find if this version of GripperSpotTech is compatible with the KSS of the robot. If Yes, You can upgrade. If not, You need to pick the right KOP version and install it on Your WorkVisual.

But, again, unless You have a very specific reason to upgrade GripperSpotTech, You should stick with the version that is already running on the real robot.

You are so Great for support Kuka Users!

Thank for your comments!

So sorry, i am quiet nervous. What is ' state software versions" you mentioned? State software version of Work Visual or another?

I am using work visual v6.0, Robot KRC4 with KSS 8.3.37

Currently, I have make done the communication PLC S7300 ( Master) to Robot Kuka ( Slave) with ET200 pro is one node of S7300.

Now, I want to clamp or unclamp Gripper from Robot. I have to send signal output of Robot to input of PLC S7300, and then S7300 send the command to trigger ET200 for carry out

But ít is so complicated, When I read Robot Manual, I see that Robot can controll Gripper Directly while it is not need PLC.

As you point about " -/S", How to check the -/S?

Thanks pro

Hi Sir!

I have one question How to add Profinet IO like below?

My robot when I add gsdml ET200 to Robot It is not show "Profinet IO" like above (detail in picture below)

What is wrong in progress carry out? Please help me point

Thanks by my heart!

Quote from massula

Best option would be using the same GripperSpotTech that you have in the robot. If You have access to the robot, You can pick the KOP in KUKA_OPT folder, inside D: drive.

I think in the case of GripperSpotTech You can even pull it directly from controller through WorkVisual, without the need of going through Windows to reach D: drive.

Thank Sir for your reply!

My robot is already install Gripper-&SpotTech V3.2.0 like the picture attached below. Now I want to install GripperSpotTech V4.0.7 so my question is Any problem when i do that?

Thanks bro!

Quote from panic mode

KOP file is a container file (like ZIP(. It may contain different things, such as installer, documentation, WoV plugin etc. not every KOP file contains same elements. for example this is why integrating KOP into WoV was optional or early options did not come in KOP form at all.

If you do not know ho to extract documentation from it use Xpert to get the manual.

Documentation tells you (among other things) how to instal that specific product. You can also ask KUKA for assistance.

Now in Kuka Website, i cant creat account. Unfortunately, in my area, it is difficult to contact for KUKA sales representative

Quote from LamNguyen

Is the any confliction when I install "GripperSpotTech 4.0.7" while Robot have already "Gripper-&SpotTech 3.2"?

Anyone can help me about this?

So feel bored!

Quote from panic mode

KOP file is a container file (like ZIP(. It may contain different things, such as installer,documentation, WoV plugin etc not every KOP file contains same elements.

If you do not know ho to extract documentation from it use Xpert to get the manual.

Documentation tells you (among other things) how to instal that specific product. You can also ask KUKA for assistance.

Is the any confliction when I install "GripperSpotTech 4.0.7" while Robot have already "Gripper-&SpotTech 3.2"?