Posts by Kuka60HA

Alright thank you for the clarification!

Kuka told me that I don’t need to manually split the file, that’s why I was confused

And once my file is splited, I load them via directory loader and then? I can run the first small file and DL care of the rest?

Hi Hermann,

You are right, trust me I’d like to load it manually instead of spending thousands in that software!

I need to use it because I can’t load the whole file in once, it is too heavy

Of course I can split it and run them one by one, but as I do 3D printing I need directory loader to make it work seamlessly

I don’t understand how to write the code to do that automatically though

It’s linear movement for 19k line, and the .dat file is empty.

I’ve attached messages I get when I try to load the file using the variables

Also the message from the LOG file

You’re talking about CELL, there’s something to do on that module ?

Hi Panic mode thank you for your reply!

I see, mine was about 19k line so it makes sense to split it

What I don’t understand is how to use directory loader to run the entire program

Should I create another program where I declare the several long file and load them using $FLAG27?

If yes, how the program would look like?

Hi there,

I just get Directory Loader from Kuka in order to run large 3D printing program.

I've a KRC4 8.3.43 and Directory Loader version is 3.0.4

I spent hours reading the documentation, but I can't understand how it works.

I added the option both on TP and WoV, set the source file, target file, etc.

Also added the group of variables and display them on the TP

I'm able to load the example module onto the KRC:/R1/Program, but if I try with a larger file, of course it doesn't work...

So my question is : how do you write the code in order to make it work ?

I know there's an exemple on the book but it is messy and doesn't really work

If somebody can me help I'll be glad

Correct, I used these output to start/stop the motor!

Thank you guys for your helps, this topic is fixed

Yes I tried it as well but didn't work

Danny,

With this programm, I'm able-ish to make it rotate constantly

I'm saying -ish because there's a trick...

The first time I start the programm, the motor rotate half of a turn and stop (he reaches the velocity I guess)

But if I reload the programm and start it (from INI), now it turns constantly !

And then I can use an output to stop it (1319 i.g.)

It already happened to you ?

&ACCESS RVP

&REL 157

&PARAM EDITMASK = *

&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe

DEF testmda2( )

SIGNAL O_CONTROL_WORD $OUT[1300] TO $OUT[1315]

SIGNAL O_MODES_OF_OP $OUT[1316] TO $OUT[1323]

SIGNAL O_TARGET_POS $OUT[1324] TO $OUT[1355]

SIGNAL O_PROFILE_ACCEL $OUT[1356] TO $OUT[1387]

SIGNAL O_PROFILE_DECEL $OUT[1388] TO $OUT[1419]

SIGNAL O_PROFILE_VEL $OUT[1420] TO $OUT[1451]

SIGNAL O_TARGET_VEL $OUT[1452] TO $OUT[1483]

...

$OUT[1300] = FALSE

WAIT SEC 1

$OUT[1300] = TRUE ; enable communication

O_CONTROL_WORD = 15

O_MODES_OF_OP = 3

O_PROFILE_ACCEL = 15000

O_PROFILE_DECEL = 500

O_PROFILE_VEL = 20000

$OUT[1318] = TRUE ; stop the motor

Awesome I could make it turn! Thank you so much

Now, how do I proceed to make it turn forever ?

I tried using different mode of operation but they all use target speed or target position to drive the motor as I understand, any way to create a loop somehow ?

Thank you again to all of you guys for your helps, much appreciated

Thank you Danny, it helped me a lot!

I was able to enable the operation using that code so green light's blinking on the drive :

DEF test()

SIGNAL O_CONTROL_WORD $OUT[1300] TO $OUT[1315]

INI

O_CONTROL_WORD = 15

....

Then I added target_pos and several profiles for velocity, accel and decel :

DEF testmda2 ( )

SIGNAL O_ CONTROL_WORD $OUT[1300] TO $OUT[1315]

SIGNAL O_MODES_OF_OP $OUT[1316] TO $OUT [1323]

SIGNAL O_TARGET POS $OUT [1324] TO $OUT[1355]

SIGNAL O_PROFILE_ACCEL $OUT[1356] TO $OUT[1387]

SIGNAL O_PROFILE_DECEL $OUT [1388] TO $OUT [1419]

SIGNAL O_PROFILE_VEL $OUT[1452] TO $OUT [1483]

INI

O_CONTROL_WORD = 15

O_MODES_OF_OP = 1

O_TARGET_POS = 10000

O_PROFILE_ACCEL = 20

O_PROFILE_DECEL = 20

O_PROFILE_VEL = 50

PTP HOME Vel=100 % DEFAULT

.....

.....

But nothing moves, what do I'm missing ?

Quote from SkyeFire

You can simply drag&drop an image into the message window.

It doesn't work

Quote from DannyDJ

You need to map all STF-EC inputs and output if you want to use all of them. To which inputs or outputs on KRC side its up to you as long they are free, not already mapped to some other device. In the picture it is just an example how to map part of the STF-EC inputs to KRC. You could also post your WorkVisual settings, signals,...

Alright I get it! Thank you

I'm a beginner regarding programm and stuff, which input/output should I use to make to motor enable and rotate ?
Once this is mapped, how do I write the programm to make it work ?

In my TP, digital input/output doesn't light up when I upload the project with mapped input/output

Quote from DannyDJ

There is an attachment icon and upload button above the reply button 😊.

I can see the image icon but it's asking me source and link. Where do I find that ?

Based on your first picture, shall I use INPUT103 to INPUT114 and only these ?

Quote from DannyDJ

Did you map the STF-EC IO signals with the KRC I/Os in workvisual?

Yes I did map them. I must be stupid but I'm trying to sent pictures here but can't figure how to import them...

Also, where did you go to display that yellow/orange columns on your second picture ?

Will provide you with pictures as soon as I understand how to attached them here

Hi there,

I'm trying to set up an extruder on a KR60 robot with KR C4 8.3.46 to do some 3D printing stuff.

I've received a stepper driver from Applied Motion, the model is a STF06-EC : driver's website

On their website, there's a XML file that I've used to add the drive's informations to WoV.

And I wired the EtherCAT in port of the motor drive with the EtherCAT out port of the EK1100

It seems like the robot actually see the drive but now how can I talk to him ?

I tried to map digital input and output but nothing changes when I display the I/O in the pendant.

I have done the required physical wiring as I can jog the motor with the vendor's motor setting software

I mapped the

My goal was to create a simple programm just to be able to enable the motor, and make it turn.

I've no idea about EtherCat and programm. Can somebody help me please with the code ?

Thank you for your help...