Okay so I’m going to take the easy way out for now. After I’m done with this I will probably try to get some training like kuka collage. But I have an associate who has a robot doing the exact job I would need mine to do. He told me I can use his program but his machine uses a KRC2, mine is a KRC1 should the program still work?
Posts by Dusty
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Okay it seems that I need to learn a little more about programming before I try to dive into this. Could i make a more simple program by manually adding place points for each bag? Might take a while jogging the robot that much but it seems like it would be more simple.
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Ive tried looking for some palletizing training from kuka but all I can find is courses for krc4 and up. Would these even be relevant for me with my krc1?
I’ve looked at skyefires Grid/palletizing library and example. Could this handle my application? It will be layers of 5 tight bags more similar to boxes, each layer will be inverted. Also there will be two pick positions and it will need to build pallets in two positions (for continuous work).
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Could anyone tell me how I should go about creating a palletizing program? I am new to this. My robot (kr150 with KR C1 controller) is jogging and working as should and I’ve created a few simple programs to move it around. I’ve read through a few manuals but I’m not understanding how to start making a palletizing program.
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Try $IMM_STOP if everything else looks good, that’s what cleared my estop.
Mmmm.... try looking at /STEU/MADA/$MACHINE.DAT. It's possible that the system input $IMM_STOP might throw a "E-Stop" message if it's not on. There was a time when there were several non-safe FieldBus inputs that had the same names as some of the X11 signals, and could throw the same error messages.
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Turns out there is a servo disconnect SD0 that needed to by jumped 1-11 2-21 3-31. My robot is jogging as it should now thanks for all the help!
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$IMM_STOP was the culprit. The error code was 1.
Now whenever I try to jog any axis, axis 2 slightly moves to the + side, cuts the drives off and it gives a message. I’ve gotten several different messages:
Positioning monitor A2
Stopped A2
Ackn. Regulator limit exceeded A2
Motor blocked A2
It has range monitoring on axis 1, 2 and 3 which I do not have a cord for could this be the problem?
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So I’ve been reading and I think it could be something to do with Ethernet.. there is a cord that runs out of the cabinet and has been cut. Is it possible to have an estop via Ethernet? If so can I make software changes to get rid of it?
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Okay I just ordered the adapter to make the backup. But the guy who sold the robot to me actually found the manual with all of the diagrams. I’ve got every relay on the fe 207 and fe 208 board working as they should.(had to add a few jumpers on the SD4 terminal and add 2 jumpers on my CC1 plug) Everything seems like it should be good but I’m still getting the estop message for whatever reason. Has anyone ever heard of this?
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Okay so
1. T1 is on on the pendant
2. when I press the estop on the pendant or controller I get a local emergency stop message, after I acknowledge it I have two estop messages. 3. As for global variable ISOLATE I haven’t found it yet.
4. On FE 207 both sets of relays for the estops are green the only ones that aren’t working as should are the 4K relays. On the FE 208 board my 8K relays have a red light, the ECR1 relay is green, ECR2 is green and my 9k relays are green. The diagram you posted shows V13,V17 as estop at the robot pressed one of the 9k relay lights are marked as V13 but I cannot find V17.
Kinda confused about what my next move should be could it be a software problem? Thanks.
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Awesom thanks guys now all I have left is the estop message. My jumpers for cc1 are as follows 1-3 2-4 5-9 6-10 7-11 8-12 13-14 15-16 17-18 19-20 21-22 23-24 and I don’t have 25-32 hooked to anything.
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Okay so I would go to iosys.ini find divicenet driver and put // in the beginning of the line? Sorry for being so lost I’m a complete noob here.
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Configuration error I/o driver DN CH 2:device not responding
Configuration error I/o driver DN CH 2; module 10 error
Configuration error I/o driver DN CH 2; module 33 error
Configuration error I/o driver DN CH 2; module 34 error
Configuration error I/o driver DN CH 1:netpower failure
Configuration error I/o driver DN CH 1; slave 15 error
Error on writing, driver:LPDN Ch 1
Performing mastering A1
Performing mastering A2
Performing mastering A3
Performing mastering A4
Performing mastering A5
Performing mastering A6
Error on reading,driver:LPDN Ch2
Error on reading,driver:LPDN Ch1
Emergency stop
Drives contractor off
General motion enable
Error on writing,driver:LPDN Ch2
Seems like I have a mess on my hands.
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I’m new to robotics and recently purchased a kr 150l150sp/2 with a KR C1 controller is is a GM version. I’ve jumped the CC1 as someone else said on this forum. I am now getting a commands inhibited message when I try to jog any ideas?