I'm adding a full backup of the R1 folder with all the configuration... below
If someone can give me same directions,,, it is really important for me too fix this.
I'm adding a full backup of the R1 folder with all the configuration... below
If someone can give me same directions,,, it is really important for me too fix this.
Is the positioner turning during weld?
Is robot near singularity during bad weld?
Thanks for your reply...
The weld occurs during the turning. The E1 Axis is turning all the time and the weld is basically one continuous shot of 7 or 8 seconds around an aluminum piece with a rectangular format. Almost all axis are used at the same time during the 8 seconds of weld time. This works really good.
The bad welding are visual inspect by humans. But i can test the program in a simulate mode without welding (like the videos attached) and the problem is the same.
I can´t repeat the same program with new settings if i decide to move the E1 axis because the Kuka robots connects the points with same kind of arcs (visible in the BAD video attached)
I share my program files below (p6):
This is the original program that works on the example Video GOOD.
Basically this is the same program for video BAD only it the difference that the axis coordinates are different (aka about 200mm on the right side comparatively it the original files. i think.. )
Hello, I have a small problem that I think maybe will have a simple solution but I don't know how to do it. I'll try to explain because this can be trick to understand:
I'm running a Kuka robot with six axes that are used in welding. This Robot with six axes is assisted by an external axis (E1) that is capable of continuous 360º movements, and it is this E1 axis that holds the part to be welded. The machine with the robot and everything was installed by the manufacturer and everything was left to work and work.
Now the problem... I can move the base with the E1 axis attached on the table and let's say place it about 200 millimeters to the left or right and these values are reachable by the robot. All OK here
But when I make this movement and, for example, create a program with the base moved 200 millimeters to the right, the robot and the axis are no longer synchronized with the robot making arcs when it should be moving in line with the movement of E1.
The type of program I use is the same, the points are the same (SLIN), I do the program in the same way but at 200 millimeters to the right it doesn't work, it is like to have same limit or settings defined but i don´t no where to search or change to fix this.
I will share two videos as an example, one working (GOOD) and the other with the base 200 millimeters to the right and it no longer works (BAD). The videos have a small RED DOT that is the move and it is visible that on the BAD video the Robot make an arc on the path from the start to the end point.
How can i solve this ?
Good
BAD
"handshake" is referring to communication between two devices.
one side sends signal, the other responds by another signal etc. this interaction is the key to understand what the problem is. clearly robot arrives to some point and sends signal to welder (OUT 67). then welder responds and robot is waiting for that response (IN 68). Since this works most of the times, chances are that wiring, IO mapping etc is correct. the issue to explore is if the robot really turn on that output at each location or not....
Thank you very clear now for me... from the beginning this is my thoughts, cables!
Anyway I'm thinking that there is no chance of there being some definition that limits the welding area in relation to the robot.
I will plan to check the cables...
"How does your handshake between weld timer and krl looks like?"
Exactly i don´t no what you are meaning with this.... You are asking to see how loose is the cable management when the robot is on the position 6 ( position that he stops)???
I have made another test it the program that i share on this tread... And my conclusion is there is no problem it the program because in this test only for the position 6:
I move the point of welding P504 only on Y (From Y 94.145* to Y76.602*) and after save and test the robot, the welding happen in the point 6.
Somehow when the robot are on the position +Y80 or something the welding don´t happen.....
Download the files - This is the files .dat and .scr and i add an image. The robot only stop in that position (number 6)
Still waiting for the answer
Thanks for your answer, but I'm not quite understanding what you mean...
I will work first it the points that Panic Mode tell me, than i will answer.
Display Moreyou should attach images in the post, not link to external ones:
and still, this does not mean much.
no it is not. if the program was the same, it would do the same thing. so clearly there is a difference but you did not share it. note that program module would have both SRC and DAT file.
i don't know what you mean there... welding is controlled by robot. robot tells "weld now" and welder does so. but... are you SURE that happens at all points (including the problem ones?).
did you look only in the SRC?
do you understand the program as is?
do you understand how trigger works?
did you confirm that output 67 is really set at each of those locations?
(including the two where you have the problem)
if the previous programmed point and the next programmed point are the same, there is no motion. if there is no motion, trigger cannot get activated. if the trigger is not activated welder does not know that it needs to do something so your program is stuck waiting for signal that will never come.
Tomorrow i will share both files the .dat and .src
From your questions, i have very basic skills on the program, but i work it the robot the last two years, same programs many many edit. I don´t no how the trigger works, but you mention a thing that i have in the program.... the approching point is the same point of the point for the welding start (no Motion) i will change this tomorror morning
This is a image it the table where the robot welds. The program is the same for all the 8 points of welding, start, stop, move to the next, star stop..etc. But only on the point 6 and 8 the robot stop waiting for the 68 permission.
How can i discover where are the 68 rule declarated (Laser attached to Kuka are a IPG system).
Thanks.
Thank for your reply. i have tested and works, the robot don´t stop. But this don´t solve my problem because the robot, the welding don´t started in that point.
It must be a condition by the " ( IN 68 'permiso soldar' ) ". I am thinking that the area of the premission for start the welding is less that the area that robot can works.
Hello,
I am running a Kuka Robot for welding aluminum pieces from a long time ago. I use several programs but all is the same.... move a robot, start the welding, move, stop welding, move to the next piece, start the welding and so on.... All works good.
Now i have create same fixtures for attached more pieces and more welding's in one run job!! I have edited the program for more parts.
- The problem is that in the new positions the robot stop for waiting the welding and don´t continue.... either i don´t see any error too. Somehow is like the robot don´t have permission or working area to fire the welding in that zone. But i don´t no here to search for solve this...
Below i "quote" and paste same part of the code... and this is the same for all the pieces, but when the robot stop in the new area/piece, always stop in this line: WAIT FOR ( IN 68 'permiso soldar' )
I think i need same ideas to solve this...
QuoteDisplay More;Request Welding ON
;FOLD SYN OUT 67 'start soldadura' State=TRUE at END Delay=50 ms;%{PE}%R 8.3.44,%MKUKATPBASIS,%COUT,%VSYNOUT,%P 2:67, 3:start soldadura, 5:TRUE, 7:1, 9:10, 12:50
TRIGGER WHEN DISTANCE=1 DELAY=50 DO $OUT[67]=TRUE
;ENDFOLD
;Welding Init Point
;FOLD SLIN P31 Vel=0.08 m/s CPDAT14 Tool[1]:tool1(163mm) Base[2]:Horizontal_C2_D2;%{PE}%R 8.3.44,%MKUKATPBASIS,%CSPLINE,%VSLIN_SB,%P 1:SLIN_SB, 2:P31, 3:, 5:0.08, 7:CPDAT14
SLIN XP31 WITH $VEL=SVEL_CP( 0.08, , LCPDAT14), $TOOL=STOOL2( FP31), $BASE= EK(K_ROOT( FP31.BASE_NO), K_TYPE( FP31.BASE_NO), K_OFFS( FP31.BASE_NO)),$IPO_MODE=SIPO_MODE( FP31.IPO_FRAME), $LOAD=SLOAD( FP31.TOOL_NO), $ACC=SACC_CP( LCPDAT14), $ORI_TYPE=SORI_TYP( LCPDAT14), $JERK=SJERK( LCPDAT14)
;ENDFOLD
;Confirmation Welding ON
;FOLD WAIT FOR ( IN 68 'permiso soldar' ) CONT;%{PE}%R 8.3.44,%MKUKATPBASIS,%CEXT_WAIT_FOR,%VEXT_WAIT_FOR,%P 2:, 4:, 5:$IN, 6:68, 7:permiso soldar, 9:CONTINUE
CONTINUE
WAIT FOR ( $IN[68] )
;ENDFOLD
;FOLD OUT 67 'start soldadura' State=FALSE CONT;%{PE}%R 8.3.44,%MKUKATPBASIS,%COUT,%VOUTX,%P 2:67, 3:start soldadura, 5:FALSE, 6:CONTINUE
CONTINUE
$OUT[67]=FALSE
;ENDFOLD