Posts by automan

Dear Fubini&SkyeFire,

Many thanks for your reply.

I found that option, it is in Configure/Jogging/Program OV Steps on/off should be enabled for this.

Regards

automan.

Hello everyone,

I have KUKA KRC2 with Version V5.4.14.

Unlike other robots, this robot's program speed is not something I can control. By hitting the + button, we can normally select one of the robot's seven standard speeds, which are 1%, 3%, 10%, 30%, 50%, 75%, and 100%.

My situation is always improving by 1%. When I press the + button to speed up the program, it goes from 1% to 2% to 3% to 4% to 5% to 6%....................100%.

What can be the reason for this? Can anyone kindly share your thoughts and corrections.

Thanks in Advance

Automan.

Hai Skyefire,

Many thanks for your reply,

Yes, It is a simply a "halt" in the program. $MOVE ENABLE is mapped to $IN[1205] as default. I have changed that to the input which coming from the PLC, It is working fine.

Regards

Bestin

Hai Everyone,

I have a kuka KRC2 ed05 with Version:V5.4.14,

I would like to stop the robot through an external input similar way of robot stops when fence are open in AUTO mode. Currently I am running robot in AUTO mode, not in AUTO EXT mode. Other end I have a machine with PLC, which sends input to robot if machine is in error. I would like to use that input and stop the robot. Is that possible in AUTO mode? How can I Implement that?

Thanks in Advance

Bestin

Quote from SkyeFire

How is the interrupt declared?

It would be helpful if you posted the actual code of the main program, the search-motion program, and the interrupt service routine. Use code boxes.

Hai Skyefire and Panic mode,

many thanks for your reply,

kindly find the code.

when the input IN[9] == true ,the subprogram grip () is not been called.

DEF CHECK ( )
INI
GLOBAL INTERRUPT DECL 10 WHEN $IN[9]== TRUE DO GRIP( )
PTP P1
INTERRUPT ON 10
PTP P3
INTERRUPT OFF 10
PTP P4
END

DEF GRIP ( )
BRAKE
INTERRUPT OFF 10
OUT 11'VACUUM' State= TRUE
WAIT Time= 1 sec
RESUME
END

Hai,

I have been trying on interrupts. I got 2 points P1 and P3, When the robot moves from P1 to P3, if $IN[3] == FALSE THEN I want to stop the robot there and turn on the vacuum.

Unfortunately the robot still moves to P3 and not jumps to the sub program

;SUB Progrm

DEF GRIP()

INI

BRAKE

INTERRUPT OFF 1

OUT 11 'VACUUM' State = TRUE

WAIT Time=1 Sec

RESUME

END

Can anyone suggest why this is happening, Kindly correct me if I am doing wrong logic here.

Hai Fubini,

Thank you for your feedback, I made a programme for the Z axis movement ,could you please check and let me know If that programme work for the requirement or required any more modifications.

Thanks in Advance

Hello Everybody,

I am using kuka KRC2 with version of V5.4.14,

I'd like to make my program using relative movements for z axis, I have to pick somewhere between 500 to 1000 number of sheets which all kept in a single column. The number of the sheets can be interrupt by operator anytime, each sheet has the thickness of 2mm.I have a sensor which is mounted on the gripper for the sheet present feedback.

I would like to move the robot from a reference point PTP P1 to the down side 2mm,check for the part present feedback if TRUE pickup the sheet or keep going towards down in each 2mm until I get the sensor feedback also it should not go down beyond the last sheet position.

How do I programme for this,I've found LIN_REL{Z},which makes a relative movement from the actual position.

Thanks in Advance

Thanks Panic Mode,

it is working,

cheers

Hai Skyefire,

Thanks for your feedback,

I have DECL'd R1 $config.dat file

Kindly check the attached image

Hi everyone,

I am using kuka KRC2 with version of V5.4.14,having some trouble displaying the value of an integer variable. the variable declared in the $config.dat file. How can I name the variable R1 to check its value in the Variable Overview Monitor.

Thanks

robot-forum.com/attachment/36584/

Hai Panic mode/hermann,

It's fixed, it was just matter of 3 wires 24v,0v,and earth.

Thank you for all valuable support.

Hai Panic mode,

Thank you so much for your reply

1.kindly check the hand sketch of 24V wiring

2.do we need terminating resistor on the both side of connector? I have one resistor in the other end which is connected to the mfc card

3.I made dip switch number 8 to ON which means baud is 500, after I made changes in devnet.ini

[krc]

debug=0

baudrate=500

LOGFILE=1

[1]

macid=5

iosys image added

Hello everyone,

I am new with kuka robots, I need help to configure the robot I/O with Beckhoff BK5200, We have KR 150 L130-2 2000 robot with KRC2 ed05 Controller Version:V5.4.14

Kindly find the below comments for your reference,

1.I tried to fire the output from teach pendant, but I didn't see any green light switches on at the I/O unit.

2.II took the supply from the robot controller to the I/O unit, Which is 27V.

3.There are no errors on the teach pendant, but when I am trying to fire the output it shows 'Error on writing, driver:DN2DRV'.At the same time Beckhoff unit also starts showing error

4.There is a 'Configuration error I/O driver DN2DRV' error when I reconfigure the I/O driver, but this disappears when I restart the robot controller.

Regards

Bestin