Hi Tomek,
Any luck with the VKCP tunning? I just got a V version and I need the auto mode.
I installed a KSS software on it without problems, now is just the console thing, that I need Auto not External.
Thanks!
Hi Tomek,
Any luck with the VKCP tunning? I just got a V version and I need the auto mode.
I installed a KSS software on it without problems, now is just the console thing, that I need Auto not External.
Thanks!
Hi all!
I've been machining with robots like that for many years. Also in marble and granite.
From my experience, best software in quality/price is SprutCAM by far, it creates KRL code directly, so ANY KUKA can execute the files.
Size of the robot, mínimum KR240 ed05, less not recomended at all. I also worked with a KR500 MT (I believed that MT stands for Machinning Tool, but after the results... not sure anymore...)
About the 7th axis... there are many overthere, that will be your smallest problem... I found some 7th including the rotary for around 10.000€ with all, internal and external cables, servo, drives...
Good look with you quest!
Don't even think for a second that I did not check the manual , but sometimes is difficult to find what you are looking for if you don't know HOW to find it, or WHAT are you looking for, or even more, in WHICH manual look for it...
For that I'm so gratefully to the help that this community offers!
Thanks panic mode!
I did not remember $PRO_IP, it has been so easy, I just checked if the "$PRO_IP.SI01" has been initialized, and.... taraaaaa!!!
Thanks again and have a nice day!
Hi to all!
I've a question that I'm not if there's a variable that may tell us this:
Is it possible by program to know if a program has been called from another program or is the one on top of the stack?
Manually is easy b'cos we can see in diagnostic the stack of the calls, but from inside a program?
Thanks!
Hi Fubini!
YEah, you're right, I can always prepare my onw function, save it to some global variables and display it in variables -> overview.
Thanks Fubini, that was a winner shot!
Thanks skyfire,
My question was that way, about waht you are talking about, kr16_2 is not yet getting the point.
But, I know about euler, I understand the theory, maybe my question was not clear, the thing is, is there ANY WAY to configure the KUKA so EVEN if the robot is in a equivalent position like the ones I explained (A 90, b 90, c 180 == A 0, b 90, c 90) we could force to see on the console the second solution, or the one with the C == 0, or the smaller A... etc..
Sorry, I missed your answer,
But not, the external axis must be fully operated (so interpolated) by the other robot.
Hi KR_16!
Nice try, but not, it has nothing to do, b'cos actually the robot is on the SAME position,without turning anything, you can program LIN { A 90, b 90, c 180} and then LIN { A 0, b 90, c 90} and the robot will remain on the same position and orientation, b'cos IT IS the same orientation.
My question is that I want to see it always like in the second LIN, b'cos the other one can confuse the user.
Thanks
Hi to all!
Sorry for the name of the post, but it is also a bit confusing for me to make you understand what I want to know.
In this post I'm refering to the redundancy of the cartesian orientation of the robot, I mean that: A 90, b 90, c 180 is the same as A 0, b 90, c 90.
The reason of why the robot do that is quite clear, but my question is if is there anyway to force the robot to use only one of these two sets of orientations. I'm afraid that not, but I just wondering is somebody had the same problem.
Thanks
Hi there!
I'm posting to update with what KUKA said, officially it is NOT possible to do that with roboteam, confirmed from Germany, so, death end that way.
I continue with the hardware idea, I think it will work!
I'll keep you updated!
Bye!
OMG! I feel so stupid in this moment.... Sorry and thanks!!!
Hi everybody!
Can somebody give me the link to the WoV 4.0 version?
In my last robots it was only the 3.10 Build 25... ¿?¿?¿
Thanks!
Thanks DannyDJ!
I think that you just make my day!
Just a question, to go deeper, the RMaster and the RSlave will not be working simultaneously with the rotary, what is more, Robot Master may be working on another external axis while RSlave is asking the control of the shared rotary, do you think is it still possible?
Thanks again!
Thanks to both!
Hmmm, robotTeam... well at least is an start point to focus the search!
In parallel I'll continue with the idea of a physical switch, I think it can work, even if it the client need to switch off the robots for the electrical reconfiguration and for applying the projects.
I'll also keep you informed.... and... I'm still open to more ideas!
Thanks!
Hi everybody!
One customer ask me if it is possible to share and external axis (rotary bench) between two robots. I'm not talking of working both robots simultaneously on the bench, but one at a time.
The movement of the bench must be interpolated, so I'm not sure if it is possible to do it. I was thinking that in the worst case, we can have 2 kuka projects on each robot, one with and one without the external axis, but what about the wires? something like a physical switch for the power and encoder wires to choose where the cables end...
I'm very confused. I'm not shure if there's an extra data bus that we may use to allow one robot to use the external axis of the other...
Any comment will be appreciated.
Thanks!
Hi Skyfire! I just read your answer now!
What you said is pissing me out, b'cos again, the official answer from KUKA was that WE HAD TO PAY for the two options that I mentioned before!!!....
Thanks mate!!!! I'll make some test on it!!!
As far as I know, there's a difference between the KSS 8.2 and the 8.3 for making the brake of the robot independent from the external kinematics:
8.2 -> You need to use "SafeOperation" (or upgrade to 8.3)
8.3 -> You need the "SafeSingleBrake" but need to wire X11/X13
I think that both options makes that old behaviour of the KRC2 of independant brakes, and from there using the signal for the external brake you'll be able to operate your pneumatic brake.
I would recomend you to use the var_state VARSTATE("variable_name") that will tell you whether the variable is:
#UNKNOWN
#DECLARED
#INITIALIZED
There's a fly in the ointment about this solution and is that the "variable_name" must be (as far as I know) hard coded... so if the name of the variables are dynamic and unique from program to program you'll need to find a way to write them into the function...