Posts by anafm001

Quote from SkyeFire

I'm not sure why the error would only occur when specific tool changes are being performed, however. That's odd. If the batteries are confirmed to be good, and this error is persistent and consistent, I would check what kind of electrical interactions those tools have with the KRC's internal power circuit. A tool should not be able to brown-out the battery charging circuit unless some bad wiring has been done.

Ok, I will check the batteries!.The robot only pick up the tool, it does not perform operations with it. The warning appears when picking up the tools that are at the top of the warehouse.

Hi!

I have a KUKA KR 210 R2700 and KRC4 cabinet, with the following message: PMS18: accumulator defective - charging test failed. This message comes out when the robot picks up the tools that are in the upper part of the warehouse (2.5 meters approximately), do you know what could be the cause and how to solve it? And this warning refers to the batteries or to the hydraulic accumulator? Thank you very much.

Ok got it!!. thank u so much

Thank you for answering me! You are right, the robot vibrated and went up and down like a sewing machine . I have put an lpf (signal*k)+(signal*(1-k)), is this correct? I have tried it and it has improved a little but not enough, so I have put a gain and it seems to be a little better .

Even so, I still don't understand how it works...the value that comes out of the poscorr block, what is it numerically?, and the value that I want as a setpoint, I suppose is what I send to the input of the block, but if I multiply it by a gain What value does it take for the correction? Maybe it's something very simple but I'm getting confused

Hi!!!, I am trying a real-time height control and as you recommended I got the Kuka RSI module. I am starting to work with it, but it is not doing what I want, so I would appreciate it if you could help me understand it. I have a KRC4 KSS8.3.39 and RSI 3.3.5. I am working on #RELATIVE,#IPO,#BASE.

I am using the kuka example, modifying it to my sensor. The value that comes out of the sum2 box is what should be corrected (I want it to be at 100 mm, for example), but what comes out of the poscorr1 block is not what it should correct, I actually don't understand what is coming out. For example, to the poscorr block I send the correction value 17 (mm) and at its output I get 0.11

I have tried with gain, without it and everything remains the same. If you could explain to me what I'm doing wrong or how to correct it I would appreciate it.

I attach the RSI file and the files that come out of the monitor. thanks in advance!!

POSCORR.zip