Posts by lekanoje

Hi Fubini,

Thank you. I have resolved the problem. I toggle the - A3 axis and saved the position and it works

Hello Everyone,

I was able to do the TouchUp on the program line on my program.

Logged in as Expert

I move the robot to the the desired position

Then Opened the program (Not Select)

Navigate to the program Line

Open the Editor and inserted the the required values

I got the values from Display , actual position on the smartpad.

Hello Everyone,

I have another pick and place program on Kuka Robot KR 6 R900 sixx with controller KR C4 compact. As i initialize the program, the Robot just turned 90 Degrees away from the pick point. (Grey grid with circles).

Not too sure if my Base parameter is right

The simulation ran successfully without any issue. I used RoboDK to generate the simulation program. I am very new to Kuka Robot (5months). and i am still learning.

Please find attached files and images to direct me in the right path.

Hi panic mode,

The axis in question is + A3 software limit switch. I used RoboDK simulation to generate the program using python script. The simulation runs well. Just wondering if there is a clear step in getting this resolved. I am just a new learner.

Hi,

I just encountered a STOP due to software limit switch + A3 on program Line 45 for a LIN move for a pick and place program. Any suggestions and inputs will be appreciated.

Thank you

Hi,

I am trying to just touchup a pick point.

Been thinking of how best to do this?

Hello Everyone,

I cannot perform TouchUp on a desired position on Kuka Robot KR6 R900 sixx with controller KR C4 compact. The program was generated on RoboDK with Python script API.

I tried a method suggested by SkyeFire on a thread on 16th March, 2018. Following the steps, i encountered a Left side: array invalid (KSS02267) error as displayed on the image attached.

The error came up as i clicked on the 'Set Value' tab on the smartpad

Please i will appreciate any suggestions to get this situation resolved.

Hi SkyFire,

See the $Base Values on my Program with respect to the values on the simulation. My A=-90 on the program while A = 0 on the parameters as shown below in the attached image on the tool parameters tab.

; ---- Setting reference (Base) ----
$BASE = {FRAME: X 0.000,Y 0.000,Z 0.000,A -90.000,B 0.000,C 0.000}
; --------------------------

Hi SkyFire,

Thank you. I found a possible loophole on my parameters as i double clicked on the Robot. The tool base was not configured or set. I mean the Reference frame of the Robot with respect to the base.It is set to ZERO. The Machine frame with respect to the base was not set too. Please find the attached screenshot. I guess this is where the problem emantes from. Could this be the issue?

Hi SkyFire,

It is the First Linear motion LIN on step 53 that I had the error.

I guess the Robot program disregarded the comments. That is why the error is showing up on step 31 on the smartpad.

I just physically checked the XYZ positions on the real Robot, they are way out of range. I do not know where to pinpoint the situation. Funny enough, the Simulation is 100% perfect..

Hello SkyFire,

I activated the PTP $AXIS_ACT on the program line when i first had the Start key error. I got stuck on Line 31(Motion) for programmed path reached (BCO).

As i try toinitiate the start key(Green Button), the robot arm keeps moving out of range. And i stopped the program. The safety stop then got triggered.

I used KR C4 DAT post processor.

Hello Fubini,

The programmed reach error (BCO) first came up before Emergency stop 2 was triggered. Yes, there is external emergency stop .

As i initiate the Play Button(Green), the Robot was moving to a point out of range to the Lin(Motion ) axis

Hello Everyone,

I encountered the error above while i was trying to implement a pick and place program. The error occured at Line 30 on my code. This happens to be the first LIN motion on the code. Please find attached code and image on the Smartpad. The robot modelin question is KR6 R900 sixx with a KR C4 compact controller.

I used RobDK for the simulation program generation and everything was perfect.

Any solution will be appreciated.

I was just reading about post processor in translating outputs

My controller is KR C4 compact.

Output?. Can you please offer some explanation. The simulation ran successfully and I was able to generate a program from the simulation.

No error message came up. Everything was fine.

Hi,

I copied the generated program from ROBODK simulation into USB then inserted it into the controller. Then copy and paste the. src into the Program folder using the kuka smart pad.

Hi Fubini,

I inserted the USB into the controller then copied and paste it into the R1/Program using the Smart pad.

What do you reckon I should do?

Hi Fubini,

I used a USB.

Hi Fubini,

Thank you. I am very new to this forum.

Regards