It has been many years since I have worked on KUKAs. I took a program from an archive and rewrote a lot of the code in Orange Edit.
now the question I am almost embarrassed to ask....I just can't remember, How do I get that new .src and .dat file into my controller?
you have FC1 boxes? Those belong in a museum...
Email me I may have some old docs that might help
Put FC1 in subject line
FCTN>0 (NEXT)>1 (QUICK/FULL MENUS) then you should see your UOP I/O in the menu
Menu>0>6>TYPE>Config
1. Highlight what you want to delete
2. F4 (CHOICE)
3. F2 <DELETE>
Try setting the axis order for 1-6 to 0
Yes the fronius power source has a means of giving the crash box error through the weld alarms as well. what interface with the robot are you using?
You wire into the Hand Broken and enable in the setup configuration...
You will get a hand broken fault...
Is this good enough?
Where is the cursor when you get the alarms?
Also I can't clearly remember, but it seams that in the condition screens, after you make a change, you then need to AREA change and reset the conditions to make them take effect. Sorry it has been years since I configured a Motoman....
If I remember, the "blinking" start light after a PSTART is a pause or wait in one of the subroutines.
when you execute the PSTART and the light "blinks"
1. Do not hit start again
2. Look in the MAIN job and the Subroutines then locate the cursors.
This should allow you to see what is causing the condition that requires a restart.
I don't have the CIO manual in front of me to look up the addresses.
That being said, under the Input/output menu you should be able to open the robot ladder.
Then you can search, edit, and compile it back into the controller.
Maybe check in the ladder for a cycle start latch.
In the playback condition screen change AUTO to CYCLE
I use to open several workcells in roboguide on my PC. Now for some reason it always freezes after coping the files in the Init.
Has anyone had similar issues
The Software Reference manual based on your software revision.
Sorry for the late response, I have been on vacation somewhere that had no phone or internet available to me.
This is a snippet of an old archive I have on an MRC robot I worked on a very long time ago.....
Notice C0006, C0007, and C0008. This job is welding 180* of a circle. for cutting, as Mr.Devils95 stated, used the same code at 90* intervals for greater control and accuracy.
C0000=-262,-88854,79792,1,-32439,59
C0001=6045,-15396,-9295,9953,18968,-71689
C0002=5829,9242,-39710,10996,29582,-73026
C0003=5639,11409,-40003,10948,29585,-72971
C0004=7292,9923,-40702,12310,30567,-68546
C0005=-5106,28465,-35997,-14200,13023,-33712
C0006=-1150,31880,-34554,-954,5400,1576
C0007=-1150,31880,-34554,-954,5400,1576
C0008=-1150,31880,-34554,-954,5400,1576
C0009=1604,30796,-34784,10850,11493,32861
C0010=-1077,22884,-35875,5096,20744,57014
C0011-4,7627,-39788,-128,30650,76678
C0012=001,-6254,5158,-263,-12229,-1676
C0013-262,-88854,79792,1,-32439,59
//INST
///DATE 2003/04/28 07:34
///ATTR SC,RW
///GROUP1 RB1
NOP
MOVJ C0000 VJ=100.00
MOVJ C0001 VJ=100.00
MOVJ C0002 VJ=100.00
MOVJ C0003 VJ=12.50
ARCON ASF#(6)
MOVC C0004 V=8.3
MOVC C0005 V=8.3
MOVC C0006 V=8.3
MOVL C0007 V=8.3
MOVC C0008 V=8.3
MOVC C0009 V=8.3
MOVC C0010 V=8.3
ARCOF AEF#(1)
MOVJ C0011 VJ=12.50
MOVJ C0012 VJ-100.00
MOVJ C0013 VJ=100.00
INC I003
INC I004
END
I did this plasma cutting years ago... I did it as two 1/2 circles with a MOVL in the middle. the MOVC ending of the first 1/2, the MOVL, and the MOVC start of the 2nd 1/2 are all the same position. this also allowed for a little posture change as well on each side.
