Cross3 is used for communication between UI and base system (e. .g. messages, read/write variables, and so on)
Posts by MOM
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STRUC ToolHolder_TYPE E6POS Position, Compensation, BOOL Validity DECL ToolHolder_TYPE Holder_HSK1000
Where did you define them (src or dat)?
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Temp = {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
Temp looks like a FRAME to me
E6POS holds the FRAME, S, T and E1 .. E6
Do you really need all of them?
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The controller having an FTP server is news to me. Where would I find documentation on the ftp server? I don't see any reference to it in the user manual
The ftp server is used for data transfer between base system and hard drive. Why should a user know about this? It would not make live easier - in contrary
Just search this forum for "ftp server" and you will find a lot of entries
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but now the robot is giving me errors about reading ini files. (progress, memconfig, bios, hw_inf, init/iosys, init/ltc_para.ini). All of these files are on the drive (C:/KRC/ROBOTER) and seem fine.
All of these files are read by the base system requesting the data from ftp server (windows side).
If all the files seem fine then I would expect a problem with the ftp server.
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You can find the explanation right here on item 2.6 page 9 (case 2 and case 3) as mentioned by SkyFire and Fubini
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I just tried to answer your post #1
panic mode and Skyfire made some suggestions.
Now it is your part again to figure out what you actually want or need.
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it's KR C2 ed05 and mfc3 (PCI)
The main board is FSC D1688
but if my memory is any good, there should be an Ethernet port on the motherboard. close to USB ports.
see sketch
This network card is for Windows only
Intel® PRO/1000 CT Network Connection (Onboard)
(Driver: INTERNAT\TOOLS\DRIVERS\ETHERNET)
For VxWorks (must be at slot #6)
3COM Etherlink XL 10/100 PCI For Complete PC Management NIC (3C905C-TX)
(Driver: INTRERNAT\TOOLS\DRIVER\3COMDummy\RtOsPnp_3COM_CX_Drv.inf)card has to be used
Order number should be 03-0287-001 and model (3C905CX-TX-M) as I recall
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oh sorry its Kuka KRC2 with software version 5.2
as panic mode mentioned: some more information or picture could be very helpful
Start with KR C2:
what main board do you actually have (if Mainboard FSC_D1688 then it is actually KR C2 ed05)
what mfc board (mfc2 (ISA) for KR C2 and mfc3 (PCI) for KR C2 ed05)
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On KR C2 you have 192.0.1.2 on windows side and 192.0.1.1 on vxworks side
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Actually the World Coordinate System is fixed by $WORLD = $NULLFRAME (both frames are write protected).
$ROBROOT defines the frame going from Word Coordinate System to the Robot Coordinate System.
Therefore the correct relationship would be
Robot Coordinate System <== World Coordinate System ==> Base Coordinate System
I do not know too much about KUKA.Sim, but I would guess by just changing the Z-Value from $ROBROOT would be a flying robot. Maybe you would need to set the robot on top of a platform
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why is lino jelvez not able to answer my question from post #3?
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Interbus is a Master/Slave bus system. Who is Master and who is Slave?
KUKA and Siemens also mean to swap low and high byte (on kuka side) - otherwise you will get wrong values.
What input and output modules are you using (normally only slave card and master card is needed)?
As SkyeFire mentioned:
make sure Interbus is workingproper outputs are sent and read as proper input
And after that start dealing with your EXT configuration
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The Sys14 Error is actually an error produced by the base system
(e.g. "1574-KRC system error 14 tLTC" => taskLifeTimeCounter)
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I think you will have the problem at p = 90° (in this case w = 0°)
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check post #2
i have had great success using single or 2 flute cutter's with rpm's ranging from 8.000 to 24.000 and milling speeds ranging from 0.01 m/s to 0.3 m/s.
and also the depth of cutting
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I do not understand your problem!
If you have a program in g-code then the spindle starts with a m-command. transfering this to a robot program then you set the output (like m-command) on that point.
(always worked for me - never had a problem)
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starting a spindle is actually a M Command