Posts by work_BR

Ah I see. I have not come across a function like that. As choze said, could be the only realistic way to do it is to add a safety monitoring space that is not intended to be a safety monitoring space.

I am not familiar with Fanuc or ABB, but if a workspace is similar to a base, you press this button to see its coordinates in space.

In my picture you can see where i defined base_data[12].

Connect them with the PnP command in the home tab

Not sure about ABB PLC's, but if you use CIP in a SICK safety controller, you have to go into the SICK software and tell it to "write TUNID".

I assume this is a similar situation. If ABB PLC sees the Kuka / was working before changes, It doesn't make sense to me that you'd have to change anything on the robot.

You need the modeling addon to fix this as far as i know.

When you have the add on enabled, in the modeling tab you can add / remove tools to match that you have set on the robot / WoV.

Also, if you use the EOAT wizard, don't check the box to add a TCP. It makes it weird in my opinion where the sim wants to add it's own unique tool that also has to be populated in the config file.

Hope this made sense.

No sorry, I gave it a look but it must have been on an old laptop.

From what I remember in WoV in your EtherNet/IP you set the local safety slave to active (There is no IP to set here you tell your safety designer software to look for the robot.):

Then in the safety designer software you add you 1 or more robots, set their IP address the same as what you have the KLI set to.

Then you navigate to the GEPR card config, and in EtherNet/IP settings -> 3rd party devices there's the "write TUNID" button.

I remember being on the phone with SICK and the guy I was talking to sent me a Power point presentation that cleared up all of my questions.

I've done this ages ago, it does work. I assume you're using CIP, so the Kuka has to we set up that way in WoV.

In your Flexi soft software I think the non-intuitive thing was to press the "write TUNID" button... something along those lines. It forces the Kuka to "hand shake" with the Sick controller.

I found the best way to do this is to block select an inline form and update the point.

Kuka does not support this very well to the best of my knowledge.

When ever I get random errors in Kuka Sim it's usually when I accidentally modify something in a global file like config (or one you made) and the syntax is wrong in there.

I don't currently have them, but we've ordered Schuck grippers with EtherCAT comms on them to use.

I've used the AMI Beckhoff motor platform recently, solely controlled through the KRC4 (Super similar I'm told). All the issues I've had have been simple things like not declaring certain PDO values at the correct time, or incorrect mailbox / explicate message in WoV.

If it works in TwinCAT, you have the right ESI file imported into WoV, It will work.

So funny story I also just had this error and searched the forum and found this thread first.

My issue was the "disconnect KCP" button at the top. When the error shows up, if i press the button, the error goes away.

Possibly someone is accidentally pressing the button with out knowledge of it? Maybe dust?

Work space alarm can also come from Kuka.SafeOperation. The "zone" you give it might be too small or the tool spheres defined are not accurate.

I can vouge for the use of ROS as an add on like panic mode says.

I have used it / currently using it. Possibly I'm using it wrong, but its basically just a server you talk to.

No, you should not erase the KSS and replace with ROS. This will not work the way you think.

One thing that we've done is use a batch file that connects to the robot, Deletes the active git directory, and re-populates it with what is on the controller.

You can start with something like: net use W: \\192.168.1.1\C /user:kukauser 68kuka1secpw59

The unfortunate thing is robot world really does not seem very well set up for multiple people to have input on a singular robot codebase.

I would check out the Eufy security cameras. I feel like they get recommended often, you can scroll to view things in the past, no subscriptions, months of battery... And as far as I know they work offline.

File -> Import / Export -> Import Local safety configuration

I get safety configurations from Kuka Sim and send them to the robot with work visual like this.

The software will change your C value based on A and B as well. It reduces it to the "least possible movement" as it were... It calculates them in sequential order i guess is the easier way to think about it. Kuka is kins of weird because it resolves A then B then C... Which ends up being rotation Z, rotation Y, rotation X.

Simply put C can change based on A and B..

I've had problems with RSI SET_Publicpar in the past (and currently). I noticed when you set a bunch of them all at once it does not work as anticipated. I got around this Simply by putting wait sec 0.024 in between calls.

Sorry, I'm pretty sure it only updates every 12ms, 4ms is for RSI. Even so, way too slow.