1. Home
    1. Dashboard
    2. Search
  2. Forum
    1. Unresolved Threads
    2. Members
      1. Recent Activities
      2. Users Online
      3. Team Members
      4. Search Members
      5. Trophys
  3. Articles
  4. Blog
  5. Videos
  6. Jobs
  7. Shop
    1. Orders
  • Login or register
  • Search
Everywhere
  • Everywhere
  • Articles
  • Pages
  • Forum
  • Blog Articles
  • Products
  • More Options
  1. Robotforum - Support and discussion community for industrial robots and cobots
  2. Members
  3. MOM

Posts by MOM

  • Kuka Robot KR 6 R900 sixx: Turned 90 degrees away from the Pick position

    • MOM
    • May 17, 2025 at 11:25 AM

    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)?

  • KUKA KRC2 ed05 robot communication with PLC Siemens S7-1200 PLC

    • MOM
    • May 13, 2025 at 11:00 PM

    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

  • Kuka-hmi.exe does not work properly, disappearing after restart

    • MOM
    • May 13, 2025 at 10:51 PM
    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.

  • Kuka-hmi.exe does not work properly, disappearing after restart

    • MOM
    • May 13, 2025 at 7:06 PM
    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

  • Kuka KRC2 robot communication with SIEMENS PLC S7-1200

    • MOM
    • May 13, 2025 at 10:56 AM

    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.

  • Kuka kcp language

    • MOM
    • May 12, 2025 at 11:30 PM

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

  • Left side: array invalid (KSS02267)

    • MOM
    • May 12, 2025 at 6:09 PM

    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

  • KRC2 Automatically Reboots After Shutdown — Can’t Prevent Restart

    • MOM
    • May 9, 2025 at 11:41 PM
    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).

  • Issue after remaster of axis

    • MOM
    • May 4, 2025 at 6:48 PM

    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?

  • Using an array of filenames for CWRITE

    • MOM
    • May 1, 2025 at 11:51 PM
    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!

  • Using an array of filenames for CWRITE

    • MOM
    • May 1, 2025 at 12:46 AM

    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.

  • START KEY REQUIRED ERROR ON KUKA ROBOT KR6 R900 sixx C4

    • MOM
    • April 30, 2025 at 7:18 PM
    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°)

  • START KEY REQUIRED ERROR ON KUKA ROBOT KR6 R900 sixx C4

    • MOM
    • April 30, 2025 at 6:52 PM

    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

  • Using an array of filenames for CWRITE

    • MOM
    • April 29, 2025 at 9:40 PM

    SWRITE could helpful by building the string

  • KR C5 IO mapping in backup files

    • MOM
    • April 29, 2025 at 4:39 PM

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

    KRC\ROBOTER\Config\User\Common\

  • ABB quaternions calculation

    • MOM
    • April 28, 2025 at 9:13 PM

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

  • ABB quaternions calculation

    • MOM
    • April 28, 2025 at 9:03 PM
    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

  • KRC_ReadActualPosition does not read either the Tool or the Base

    • MOM
    • April 23, 2025 at 10:45 AM

    In Robot Program:

    $TOOL = TOOL_DATA[2]
    $ACT_TOOL = 2

    $BASE = BASE_DATA[2]
    $ACT_BASE = 2

  • KRC_ReadActualPosition does not read either the Tool or the Base

    • MOM
    • April 22, 2025 at 8:42 PM

    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)

  • EtherCAT F/T Sensor Data Interpreted as Unsigned in KUKA Controller

    • MOM
    • April 18, 2025 at 3:45 PM

    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

Advertising from our partners

IRBCAM
Robotics Channel
Robotics Training
Advertise in robotics
Advertise in Robotics
Advertise in Robotics
  1. Privacy Policy
  2. Legal Notice
Powered by WoltLab Suite™
As a registered Member:
* You will see no Google advertising
* You can translate posts into your local language
* You can ask questions or help the community with your knowledge
* You can thank the authors for their help
* You can receive notifications of replies or new topics on request
* We do not sell your data - we promise

JOIN OUR GREAT ROBOTICS COMMUNITY.
Don’t have an account yet? Register yourself now and be a part of our community!
Register Yourself Lost Password
Robotforum - Support and discussion community for industrial robots and cobots in the WSC-Connect App on Google Play
Robotforum - Support and discussion community for industrial robots and cobots in the WSC-Connect App on the App Store
Download