Posts by MOM

• KRC2 booting issues

Hi,

the changes you showed:

The increment for an axis is the distance moved by the robot each time a jog key is pressed.

regards

MOM

• KRC2 booting issues

Hi,

goto help -> info -> robot

regards

MOM

• KRC2 booting issues

Hi,

what is the robot type shown in BOF

what was the length of the other robot?

I quickly trying to check the machine data KUKA KR 150-2K (sadly there is no KUKA KR 150-2K, KUKA KR 150-2 only)

I only found

KUKA KR 150-2 with 3500 mm

and

KUKA KR 150 with 3000 mm

regards

MOM

• 6 DOF Spherical Wrist IK Calculation (Unity)

Hi,

in your post #3 Step 5 you have the information you need to do the calculation:

This is the easy way:

R11 must not be abs(1) this would mean that j5 = 0.0 deg => s5 = 0)!

otherwise

R11 = c5

j5 = +/-acos(R11)

j5 = atan2(+/- sqrt(1 - R11*R11, R11))

R21 = s4*s5

R31 = -c4*s5

j4 = atan2(+/-R21, -R31)

R12 = s5*s6

R13 = s5*c6

j6 = atan2(+/-R12, R13)

regards

MOM

• KRC2 \$config.dat fail

Hi,

In the configuration you have to set the number of the input (see I/O).

If there is no input available you can use 1025 (for TRUE) or 1026 (for FALSE)

regards

MOM

• KRC2 \$config.dat fail

Hi,

first guess: \$MOVE_ENABLE = FALSE

regards

MOM

• Who is closing a thread

Hi all,

Helping each other means (at least to me) that, if a problem is solved, the initiator will tell what he/she finally did and all others can follow that sequence in order to solve this problem as well.

At the moment it seems to me, if you do not get the final resonse of the initiator, he is happy and therefore there is no need to respond anymore

Is this the way how it should work?

regards

MOM

• 3 DOF gantry robot non-standard coordinate system

Hi,

+X is in the standard +X direction, +Y is in the standard +Y direction, but +Z is in the standard -Z direction. In other words, the gantry's coordinate system looks like a right hand with the thumb inverted, or maybe a left hand equivalent.

Normally you just would rotate around x-axis of 180.0 deg. In this case z-axis as suggested by previous posts, but y-axis is in the opposite direction.

So, you created a very special robot which may cause a lot of problems working together with other standard robots

(why make it easy?!)

Am I being paranoid? I know theory and practice don't always align, so I'm hoping for some feedback from you folks. Thanks in advance!

In my opion you are not paranoid , just realistic

regards

MOM

• Want to find DH parameters for a robot arm with 6 DOF

Hi,

it would be very kind of you telling problem solved and close thread or answer to the open questions

regards

MOM

• KRC2 booting issues

Hi,

there are no software bugs - there are only unsupperted features

regards

MOM

• KRC2 booting issues

Hi,

to summerize:

you have3 a kr c2 (because of the 133 main board)

you have a mfc2 card (pci)

Exclamation marks does not mean that the driver are not working, they may work but probably not working as expected!

can you show the complete device list (searching for mfc2)

regards

MOM

• KRC2 booting issues

Hi,

remember my post #98?

The exclamation mark for floppy is ok

How does your autoexec.bat and config.sys looks like?

regards

MOM

• KRC1 sm.com for external monitor

HI,

the best thing would be checking customer support from kuka.

Give them the serial number of your robot and I am pretty sure the will send you the file

regards

MOM

• KRC1 sm.com for external monitor

Hi,

do you have a copy of the cd on d drive?

regards

MOM

• How can I integrate the g code into krl?

HI,

hermann this is actually the best way to do it.

This this way I was able to follow a path with about 300,000 points created from gcode.

regards

MOM

• KRC2 booting issues

Hi,

the sequence of start up as I figured out so far would be:

1. cross3

1.1 initializing all of its trabants

1.2 starts vxworks

1.3 starts HMI

1.3.1 starts KukaDB.exe for national translations

1.3.2 starts (at the beginning you will see the splash screen (in german: "lege den Mantel des Schweigens darüber"))

vxworks will load data and initialize (?)

regards

MOM

• KRC2 booting issues

Hi,

I messed around with KSS 4.1.OL and KSS did not want to start.

set the traffic ligt to green and using menu item log to set log on

Now you should be able to see sonmething

The reason why KSS did not come up in my case KukaDb. exe could not be startet

regards

MOM

• KRC2 booting issues

Hi,

how many clones do you have?

As a first step I would examine the hard drive.

Connect the drive as external hdd to you PC

check for defragmentation (I used defraggler for that)

check hdd for lost clusers (chkdisk)

run your virus scanner for the external hdd.

If all these tests are passed

try to create an archive

if not

make a zip file of the init directory

make a zip file of the log directory

regards

MOM

• Installing KUKA KSS 5.X in a Virtual Machine / Office PC

You are right,

4.1.x.OL was the only demo version (for 30 days) available.

All the other versions requeries a license

regards

MOM

• KRC2 booting issues

Hi,

to show you the difference between sectorbased and filebased see the screen shot

with sectorbased you will be able to find more problems

With filebased you will defragment the hard disk

regards

MOM