Posts by Choda

Quote from DannyDJ

Hi, but this robot works only in palletizing mode, you should bought a robot with a mark sixx. fivve along the robots name means only five axis are available. There is no motor for axis 4 in order to work in non-palletizing mode.

Hello,

Thank you for answering. This robot don't have in name suffix "PA" like for example "KUKA KR 120 R3200 PA" that is only palletizing application robot, so we don't know can our robot work in only palletizing mode or he can work in common mode (Cartesian X,Y,Z) when $PAL_MODE=FALSE?

Best regards,

Thank you in advance.

Quote from sloba88

So as I understand, you have problem to move/select robot Cartesian(xyz) in $PAL_MODE if is true or false ? Or ?

What did you charge in $MACHINE.DAT? Normally you don't edit this file.

Hello,

Thank you for answering. We have problem with selecting and moving robot in Cartesian (X,Y,Z) when $PAL_MODE=FALSE.

We did not change anything in $MACHINE.DAT.

Best regards,

Thank you in advance.

Dear,

We bought second hand robot from topic and we have problem with selecting and jogging robot in coordinate systems. We can not select neither of coordinate systems (WORLD, BASE, TOOL not available) only what is available is jogging by AXIS. Also when we press enabling buttons immediately appear error on KCP: Cartesian target point not accessible.

Variable $PAL_MODE is set to FALSE in SYSTEM-SPS

Bool $DEF_A4FIX=TRUE is set in $MACHINE.DAT

Bool $DEF_A5LINK=FALSE is set in $MACHINE.DAT

We need this robot to work in not-palletizing mode in Cartesian coordinate system (X,Y,Z).

Best regards,

Thank you in advance.

Dear,

We have problem with jogging robot in coordinate systems (both systems).

For example when we want to move robot in Z+ direction WORLD, robot is not going vertically up.

Instead of that he moving angular. Robot is with 6 axis, but on panel in bottom right corner write KR40PA-ZF.

What is problem and how we can fix?

As attachment to this thread I upload picture of robot plate and panel.

Thank you in advance,

Best regards.

Update:

Problem was defective CIB board, but what is signal 14 we did not find out.

Dear,

We have new error on our robot from topic. Now we have error: "Safe device CIB SR Safety Module (SION-CIB-SR): Error at feedback signal 14". We try with cleaning the card and reconnecting (solution from thread with same issues) but error is still active. Error appear when we switch on/off drives (press and release dead man switch).

Thank you in advance,

Best regards,

Images

Quote from Fubini

As said before there is no variable to set it at boot time. You can set it after system boot either

• By setting $PAL_MODE in Submit (not tested give it a try)
• By setting $PAL_MODE in a robot program -> Skyefires suggestion
• By setting it in Display -> Variable -> Single on the HMI (not tested give it a try)

Whenever you have a palletizing robot (4 axis or 5 axis) after a cold boot it will be set to true initially.

If I remember correctly at boot time it is always set to the value of $DEF_A4FIX in R1/$machine.dat. $DEF_A4FIX is something you should not change to false if your actual kinematic is a pallettizer (4-axis or 5-axis). By changing it in machine.dat you will risk damaging your machine due to other side effects.

Fubini

Hello,

I try 1 option setting variable in sps.sub and this works. Thank you Fubini and SkyeFire for your big help. We fix issue.

Best regards,

Thank you in advance.

Quote from SkyeFire

The last 5-axis KUKA palletizer I worked on had to include programmatic setting of $PAL_MODE because Mastering Reference and Brake Test both required $PAL_MODE to be False, IIRC. I just had a $PAL_MODE=TRUE setting at the top of my production program to ensure it was set properly.

Hello,

What is setting $pal_mode=false by default and where this variable/command should be set?

Thank you in advance,

Best regards,

Quote from Fubini

Pal_mode at boot time is set to true whenever you have a palletizing robot configured in machine data. So true is the standard mode for these type of robots and false should be the exception. If I remember correctly this can not be changed.

How to you jog? In cartesian space or in axis space? In the latter case I think you can jog also with pal_mode true.

Fubini

Hello,

This exception should be set in sps.sub in USER DECL or USER PLC?

Should be there set $pal_mode=false?

Thank you in advance,

Best regards,

Hello,

I can jog axis 5 in axis space only in + direction until this axis locked.

There is message shown on picture in attachment:

"Palletizing mode: move axis A5 + into position"

When axis 5 reach some value this message dissappear and A5 become gray.

In this case only how I can jog again axis 5 is to set variable $pal_mode=false.

I have one more question regarding next variables: $DEF_A4FIX, $DEF_A5LINK

In our machine.dat file $DEF_A4FIX=TRUE and $DEF_A5LINK=FALSE.

How this variables should be set for non-palletizing application?

Thank you in advance,

Best regards,

Hello,

First thing that I try was that. So Cold start with Reload file didnt help.

Thank you in advance,

Best regards,

Hello,

I have one question. We have robot from topic. This robot is for palletizing. Axis 5 is beside Axis 4 also locked in position.

When I change variable $pal_mode=false we can jog Axis 5. Everytime when we reboot controller this variable is set to true.

I look config file but I can not find where this is set, so during the booting controller read/set this variable to true.

How I can switch off this variable so when I reboot controller I dont have problem?

Thank you in advance,

Best regards,