Posts by kast1337

This is what I need I will delve into WorkVisual.

That's the way I was thinking about it, too. But I was more concerned about some systemic solution. I have experience with welding commands from Kawasaki and there in the program in the background I handled the switching on of the welder. This has the advantage that while the robot has already engaged the arc. It's turning off the system bit that allows you to turn off the welding.

Bumping up the post. Is anyone able to answer?

Regards,

Kamil

Okay, I was able to partially figure it out on my own. I.e., how to change JobNo and WeldingSpeed. But I still don't know if it is possible to enable/disable welding through a given Bit. In the manual from ATB I found information that there will be such buttons on TP. Does anyone know how to solve this?

;Changing parameters before movement commands
;Starting point with ARCON
WDAT1.Strike.Channel1 = in_nJobNo
WDAT1.Weld.Channel1 = in_nJobNo
WDAT1.Weld.Velocity = in_nWeldSpeed/60 ;zamiana z m/min na m/s
;Ending point with ARCOFF
WDAT2.Crater.Channel1 = in_nJobNo

Regards,

Kamil

Hello,
I have a question regarding how to access the JobNumber and WeldingSpeed parameter in the ArcOn/ArcOff form. In my application, I am sending JobNumber and WeldingSpeed type parameters from the PLC to the robot, because I want the operator to be able to adjust the process parameters from the HMI. I have a universal function created that pulls in the parameters: JobNumber, WeldingSpeed, StartPoint, EndPoint:

P_WeldPath(in_nJobNo, in_nWeldSpeed, in_pStart, in_pEnd, in_pStartFDAT, in_pEndFDAT)

I would like to do a one-time swap of JobNumber, WeldingSpeed parameters before executing a program fragment

ArcOn SLIN P1
ArcOff SLIN P2

I also have an additional question, how can welding be disabled for the commands ArcOn, ArcOff. I would like to handle a signal from the PLC in the SPS program that would turn welding on or off. I need this to test the program in an automatic cycle without welding workpieces.

I am referring to such a notation:

$ARCON=InSig_bWeldOn ;signal from PLC/HMI

Where $ARCON is, for example, some $OUT[X] signal mapped to the robot's communication with the welder.

Hardware info: ArcTechBasic 7.3.2, KSS 8.7, KRC5, Fronius, Robot KR6 R2010-2 arc HW E

Regards,

Kamil

I did everything you wrote after the previous answer of the colleague above. I talked to Kuka support, it turns out that the problem is that KukaSIM, despite the change in the $machine.dat file, still generates robot data and this is protected from writing. You can disable the RobotDataGeneration option and indicate the path to the folder where this file will be and check, but unfortunately this did not work either. It is most likely KukaSIM's fault, it would work in combination with OfficeLite.

I disabled the signals where the addressing matched mine. But the error still occurs.
Which addresses should be chosen for mapping so that they do not conflict with system signals?

Hello,
I have a strange problem with using SIGNAL declaration in Kuka SIM. In the $config.dat file I create my internal signals to use them in the program by their proper name.

$config.dat

SIGNAL OutSig_bBurnerSpraying $OUT[33]
SIGNAL OutSig_bWireCutting $OUT[34]
SIGNAL OutSig_bBurnerCleaning $OUT[35]
SIGNAL OutSig_bAirBlow $OUT[36]
SIGNAL OutSig_bExeVision $OUT[65]
SIGNAL OutSig_bExeRange $OUT[66]
SIGNAL OutSig_bPermissionCell $OUT[97]
SIGNAL OutSig_bDone $OUT[113]
SIGNAL OutSig_bBusy $OUT[114]
SIGNAL OutSig_bWeldingInProcess $OUT[115]
SIGNAL OutSig_bAckReadParam $OUT[121]
SIGNAL OutSig_nActionNumber $OUT[129] TO $OUT[160]
SIGNAL OutSig_nErrorID $OUT[161] TO $OUT[192]
SIGNAL OutSig_nCurrentStep $OUT[193] TO $OUT[224]
SIGNAL OutSig_nCurrentSpeed $OUT[225] TO $OUT[256]
SIGNAL OutSig_nActPosAxis1 $OUT[257] TO $OUT[288]
SIGNAL OutSig_nActPosAxis2 $OUT[289] TO $OUT[320]
SIGNAL OutSig_nActPosAxis3 $OUT[321] TO $OUT[352]
SIGNAL OutSig_nActPosAxis4 $OUT[353] TO $OUT[384]
SIGNAL OutSig_nActPosAxis5 $OUT[385] TO $OUT[416]
SIGNAL OutSig_nActPosAxis6 $OUT[417] TO $OUT[447]
SIGNAL OutSig_nActPosAxis7 $OUT[448] TO $OUT[480]
SIGNAL OutSig_nRowNumber $OUT[481] TO $OUT[512]
SIGNAL OutSig_nColNumber $OUT[513] TO $OUT[544]
SIGNAL OutSig_nBaseCheckingNum $OUT[545] TO $OUT[576]
SIGNAL OutSig_nCurrentWeldJoint $OUT[577] TO $OUT[608]

The problem is in one of the variables OutSig_nActionNumber. When I try to set its value I get an error like:

KR 150 R2700-2 (integrated) Simulation was paused due to an interpreter stop.
KR 150 R2700-2 (integrated): The variable OutSig_nActionNumber is readonly. 

Here is a fragment of the program where I set the variable:

   OutSig_bDone = FALSE
   OutSig_bBusy = FALSE
   OutSig_nErrorID = 2
   OutSig_nActionNumber = 7

But when I want to set SIGNAL on the next variable OutSig_nErrorID everything is fine. Why is this happening?

Best Regards

Kamil

Yes, it is a linear axis on which the robot is mounted and moves along with it.

Quote

"For a PTP move, an out-of-reach condition would be predicted before the motion began."

So the robot controller should handle the "SPTP XP1 : TOffset" movement without completing the additional "AAA.E1 = XP1.E1" entry. The movement is from one end of the linear module to the other. After removing the above line of code, I get the message: "KR 150 R2700-2: RRS OP 118 (GetNextStep) message: Work envelope exceeded."

In my opinion, as a programmer, I define the value of the E1 axis. To point P1, which already has some value of the E1 axis, I add 0 from my offset, so the old value should be preserved. Just like with the Z coordinate, which understands my offset.

Is it simply that the value of the secondary axis is not offset and is treated as an absolute value?

Thanks for your answers.

This is how you refer to point P1 outside of the movement form. I was hoping for an explanation of why it has to be done this way

Hello,
I would like to approach the pick point with an offset in the tool axis. So far I have done it this way.

DECL E6POS TOffset
TOffset= {X 0,Y 0,Z -200,A 0,B 0,C 0,E1 0,E2 0,E3 0,E4 0,E5 0,E6 0}

SPTP XP1 : TOffset
SLIN P1

But currently I have an additional linear axis and when the robot is out of range in this axis I am not able to reach it using the given method. Then I have to use the notation:

DECL E6POS TOffset
TOffset= {X 0,Y 0,Z -200,A 0,B 0,C 0,E1 0,E2 0,E3 0,E4 0,E5 0,E6 0}
TOffset.E1 = XP1.E1

SPTP XP1 : TOffset
SLIN P1

Could someone explain to me why I have to do it this way and make an additional record of rewriting the E1 axis value?

Thank you in advance and best regards

Kamil