I checked $RAT_MOT_AX, it is correct.
The program I posted are calculated points. It is the output of a post-processor.
I read something on the forum about slerp. Could it have something to do with that?
I attached an example video of what I want to accomplish.
Hello All,
I have problem with an kinematic axis. I have a custom turntable that I want to use for milling object. My goal is to use $IPO_MODE = #BASE to let the turntable do most of the movement.
It seems that the configuration for the kinematic axis is good. I placed the base in the middle of the turntable.
Now I ran a test program to see if everything was ok, but is was not.
In the attachments you see a picture of some cartboard where you see a green line. This is the movement of the robot with turntable. It should be a rectangle with straight lines, but for some reason the lines bend. The strange thing is that the corners are exactly the correct points.
kukaPost.txt
Can someone explain what is happening?
Thank you!
panic mode Thank you for your reply.
I found the waggondriver in C:\Program Files (x86)\KUKA\WorkVisual 6.0\WaggonDriverConfigurations\KPP 600-20-1x40 (1x64) .
Where do I need to mannually put the waggondriver?
Hello All,
We have a KUKA KRC4 KR240 R2700 prime KSS 8.2.19.
We want to use a KUKA servo motor to drive a custom rotary table.
We have the following:
KPP 600-20-1x40 (ser-Nr.: 049314) (Article-Nr.: 00198260)
KUKA servo 1FK7101-5AY71-1SY3-ZS77 (Article-Nr.: 0000179161) (ME_270_180_30_S0)
My question is, how I must configure this in Wov.
Thanks,
Kind regards,
Nick
Turns out the installed profinet 2.2.4 was corrupted. Upgraded to a higher version and it worked. The configuration Wov turned out to be correct.
panic mode, you are right, I did some things wrong.
I am going to try again:
PLC:
ip = 172.31.1.235
subnet = 255.255.255.0
KUKA:
virtual 5 ip = 172.31.1.234
virtual 5 subnet = 255.255.255.0
virtual 6 = 192.168.1.234
virtual 6 subnet = 255.255.254.0
After configuring this , still not able to see KUKA from PLC side.
The following error messages are displayed:
The GSDML file I use is KRC4-Profinet_2.3, should be the one.
To be honest I didn't try ack_gl yet.
That just the thing. I am not able to see the Kuka from the PLC. This resulting not being able to set device name or whatsoever.
Still not working after following the manual..
SkyeFire I think I am dealing with the same problem. Are you willing to explain the solution to me in detail?
I have attached zip file with pictures of my network config.
I am able to ping the robot.
F_Dest_Add also corresponds.
DS186 I am not sure what you mean by correctly configure KLI interface, can you explain in more detail please?
Dear all,
I have a problem configuring Profinet/Profisafe connectien from KUKA to Siemens PLC.
I want to make the PLC master over the KUKA robot.
The following:
Robot:
KUKA KRC4 R2700 KR240 PRIME
KSS 8.2.19
PROFINET KRC-NEXT 2.2.4 installed
WOV 6.0
Ip: 192.168.1.238
Siemens PLC:
S7 1215F DC/DC/DC
Ip:192.168.1.240
To start, these are the error messages that I get:
picture 1
robot-forum.com/attachment/36500/
I have configured the following in Wov:
picture 2
robot-forum.com/attachment/36496/
After that I did the io mapping.
The next thing I did is importing the GSDML file into Tia Portal:
picture 3picture 24
robot-forum.com/attachment/36501/
I changed the profinet name of KUKA to 'krc4', like I did in WOV.
After this I placed a networkcable from the PLC to the robot (KLI port).
In Wov I am able to see the PLC:
picture 4
robot-forum.com/attachment/36502/
Where the problem begins to start is that the PLC is unable to reach the KUKA robot.
picture 5
robot-forum.com/attachment/36503/
In accessible devices the Kuka is not to be found and the profinet io system is not able to reach the robot.
It seems that beacause the PLC can not find the Robot the error messages appear.
Somehow uploading the pictures didn't work, so i added zip file with the pictures
Is someone know with this problem, please help.
Kind regards
