Posts by FAKUTSU

I did tests and when I set $stopnoaprox to true there are no outputs on monitoring window about possibility of approximation

If i remove any I/O settings it stops in SWITCH instruction. If i set the continue it follows the next line and so on... It doesn't feel like the solution for this issue

Thanks for reply.
O_ROBOT_PROG_NR is just INT that saves the number of program sent from PLC and is set to 0 while ending seqeunce to make it ready to execute another program. So let's remove it for now and now the interpreter stops on WAIT FOR I_PLC_PROGRAM_NR.
I know it should stop here but why it is stopping only when homing program nr is sent into the robot, and nothing else?
THere must be a reason for that.

Thanks everyone for your answers.

After discussing the problem with kuka support we reinstalled windows software and after that i was able to laod the project again. To make it clear they weren't sure what could cause the problem, but they think it may be connected with error during loading project into controller (for example disconnected cable while loading the project)

Hello all,

I have a problem with reaching a smooth robot movement in my application and after hours of testing a couldn't find the solution for that and I wonder if anyone of you can help, or give me some ideas that i didn't come up with.

The robot is KR 30 2100 with KRC5 controller

So the robot seems to be very simple. It is simple pick&place application. The program is divided into 3 segments.

First is main program with INIT block and starting variables, then waiting for info from plc about which program has to be executed.
Next is 3 subprograms with simple pick&place movement with just one simple SWITCH instruction where we chose position to reached by the robot (info is coming from PLC)

And The last one is the homing program, which is executed before every program, this program contains 3 blocks:
1. Contains going back instructions based on zone in which robot is in exact time (they are based on simple if instructions like
if XPos_Act.Z < 700 THEN XPos_Act.Z = 800 LIN XPos_Act C_Dis)

2. Contains going back to safe approach point which is declared before the pick or place point to make sure robot is in safe position before moving into another one

3. Contains the next movement to another approach position (All the movements have the C_Dis instruction included)

And so my problem is that in case when i start program and move to pick position i have to move robot back to home position and then to place position, and with this order of movements robot stops for some reason in home position and moves to place position.
When i execute place program without going back to home the robot makes a normal continous move without stopping.

I tried to set $ADVANCE parameter to 5 - nothing changed. I can see that that program interpreter stops for some reason while executing home position, but it doesn't stop while setting the place program (See the screenshot). Furthermore it stops in a line that shouldn't make it stop referring to manual which describes which commands actually do it.

There might be something that i just simply don't understand about continous movement.
I was thinking that robot is making more calculations during the homing program, but it is not more than for the other programs. It simply just Reset position outputs (I've added continous instruction before avery output reset), than it uses the GET_CURRENT)ROBOT_POS function to check where the robot is and based on results it executes the going back movemnt, than it returns to safe psoition and moves to another safe positon and executes desired program.

If you have any ideas what could cause the robot not executing continous movement i would be grateful.

Tell me if you need anymore information.

Hello,

I'm having a really strange error on kuka KRC5 controller (KRC5 - 8.7.7). Recently i was working on our application and during the work everything was fine. During tests it turned out that i need to add two new global variables in config.dat and after doing so i tried to load modifications into controller and then the message from screenshot appeared.

First I've tried restarting the controller, than i loaded previous backups and it didn't help. After this I've tried to restore the factory settings by loading initial project - still the same problem. I can't load any program modifications into controller.
I also tried to run cold restart with system files reload and it also didnt help. I've searched in system files for the file from error info but there is no such file (or it is hidden from user?), so I thought that it's simply missing, but then I checked other robots with the same controller version and it turned out that no robot has such file but i'm able to work with them without any issues. I also tried to reinstall work visual, still the same problem.

Has anyone of you faced this issue before? I'm looking forward for any tips to solve it. Im' attaching the error info.