Posts by MOM

As SkyFire mentioned: Details matters.

$BASE.A = 90.0 deg (this could explain your 90 deg rotation).

A screen shot of the hpu could also be very helpful

What is the actual position of the robot (from picture)?

You could check with KUKA.

Send them the serial number of your robot. They can check what was originally ordered.

IF Profinet was included You normally get the disk (as Repair).

As Fubini mentioned in Your other thread you can not get it as new

Quote from SkyeFire

Into Windows, wouldn't it be?

Actually no.

While making changes to the network card with ezstart.exe the card must not be active (running under windows there is active network communikation)

ezstart.exe is a dos application and for checking the settings ezstart.exe may run in a dos window (as seen here).

If you want to make changes you have to boot into dos
(on windows 95 using <F8> while booting gives the option)

According to the description SMEM and Network card are both on the same network (192.0.1.x)!

If network card was installed last then Cross (HMI) could try to talk to the network card instead to shared memory (and there is nothing there)

I would try to delete or deactivate the networt and see whether is working now and then using a different IP address like 192.0.2.3 for outside comms (with subnet 255.255.255.0)

It also could be very useful to find out the real KRC (MFC) version and KSS version.

Quote from rasinan

I defined and saved an IP address as "192.0.1.3" through the ezstart.exe interface.

Just to remember:

192.0.1.1 Shared Memory vxworks
192.0.1.2 Shared Memory windows (KUKA-HMI.exe)

ezstart is used to configure the additional network card (part of MFC).

ezstart may be used reading the settings of the card BUT NOT makining any changes while windows is running - unpredicted results.

If you need to make changes then the program should be started with a boot into dos.

The problem is more likely the net work card

PNIODrv has to be installed using the KUKA Setup (CP1616 must belong to vxworks).
In addition to that also the drivers and some ini files will be installed.

To check whether the PNIODrv is or was installed you may check the log directory for log files
(installed TP are also stored on c:\KRC_OPTION with TP name and REINST and UNINST sub directories)

By just plugging the card in normally windows will grap the card.

In order to change the language you have to be at least Expert (otherwise Language is grayed out).

The image is little bit confusing.

In the lower window the LIN (line 33) is selected.
In the upper window (variable display single) a variable (from history).

for the lower window the "Touch-up" button is not grayed out and could be used

Quote from MFab

I’m trying to configure it so that when I issue a shutdown from the KCP, the system stays powered off

Can You tell us afterwards how You did it?

In order to switch the system off You have to use the power switch (at least until KSS V7).

REAL $MAMES[12] ;VERSCHIEBUNG ZW. MECH. UND MATH. NULLPUNKT ACHSE[I]

Get the angle between prev. and actual axis value and set $MAMES[6]

Could this help fix your problem?

Quote from RoboMan3000

INT buffer size must be one less than the length of the actual buffer character list. So, the length of my Buff[] was 256, I must declare 255.

This is not correct:
In C an array starts with index 0: therefore array[0] .. array[255]
=> number of elements: 1 to 255 + 1 Byte for index 0: total element =256!

in C you have zero terminated strings.

Therefore initialising a buffer[256] with zeros is actually creating a buffer with 256 empty strings.

I do not think that this was Your idea.

Quote from MOM

-58.555004 -62.963142 129.916061 -0.000003 23.047079 -86.055000

Having A set to 0.0
31.444994 -62.963142 129.916061 -0.000003 23.047079 -86.055000

Forgot to mention:

the difference of axis 1 between (-58.555 and 31.445) is 90° (= $BASE.A set to 90°)

A few things first:

"START KEY REQUIRED ERROR" is not an error message.
It is a friendly reminder for BCO!

"Quickly skip BCO" is acually the wrong desciption.
You do not skip BCO - You only set the actual position as BCO
"Quicly execute BCO" might be better

You have to execute BCO for T1, T2 and AUT

Quote from lekanoje

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

will give you the following axes settings
-58.555004 -62.963142 129.916061 -0.000003 23.047079 -86.055000

Having A set to 0.0
31.444994 -62.963142 129.916061 -0.000003 23.047079 -86.055000

SWRITE could helpful by building the string

The name should be KRC_IO.xml and can be found in the directory

KRC\ROBOTER\Config\User\Common\

having x,y and z set to 0 you would need this quaternation

Quote from Raziel1000

For example ABB robot modul : where are quternians values like -> LOCAL CONST robtarget p_201_013:=[[550,366,100],[0.128860,0.695266,-0.695266,-0.128860],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,240.925]];
This quaternians values should by after conversion to eulers 0 for all xyz . But is't. It is x 159, y 0 ,z -90

Using my tool I get the same result

In Robot Program:

$TOOL = TOOL_DATA[2]
$ACT_TOOL = 2

$BASE = BASE_DATA[2]
$ACT_BASE = 2

There are actually more problems:

Tool 2 and Base 2:
right Window shows for Tool and Base 0 (instead of 2 and 2)

Tool 3 and Base 3:
right Window shows for Tool and Base 0 (instead of 3 and 3)

You are just changing $TOOL and $BASE.

You also should change $ACT_TOOL and $ACT_BASE
(at the moment $ACT_TOOL = 0 and $ACT_BASE = 0)

Did you checked with the ATI documentations found here https://www.atiia.com/products/ft/ft…x?id=Axia80-M20

And here 9620-05-D-ATI KUKA FTCtrl (ati-ia.com)

In your case you are only showing the counts and not the forces and torques