# Posts by MOM

my question again:

what type of sensor do you want to use?

Until now all discussion was quite interesting, but useless)

Hi,

you are talking all the time about voltages.

Start with the sensor. What is the sensor outputting (force and torque given in voltages, or just voltage and you have to calculate the forces and torques by yourself)?

Or are you looking for a simple sensor only supplying one force value? The same question as above

regards

MOM

• ## Denavit-Hartenberg Parameters for Kuka-Kr16

Hi,

concerning DH Paramter:

You need the DH Parameter in order to create you DH transformation for each axis.

Unfortunately there are two ways doing the DH Transformation

1. DH Transformation introduced by Denavit Hartenberg (rot.z(theta) * trans.z(d) * trans.x(a) * rot.x(alpha))

2. DH Transformation introduced by Craig (rot.x(alpha) * trans.x(a) * trans.z(d) * rot.z(theta))

Which DH Paramter you looking for?

as a first step you should draw the kinematic model of a robot in xz-plane

given coordinate systems:

K0 Base coordinate system (your K0 is wrong - you draw yz-plane, K1, K2 and K3 as well)

K6 Flange Coordinate System

Send a corrected version of you kinematic model, please

You also should not forget, that A1, A4 and A6 are rotating mathematical negative and A2, A3 and A5 mathematical positive.

On Github searching for KR210 you will find some examples on the DH paramter (Craig). You just need the dimensions for your robot in

regards

MOM

• ## unmountable boot volume for KRC2

just send picture of how the wiring is done (or how they looks like)

There are actually a few sets of the cable (40 and 80 - 80 is preferred)

Cable with some prongs are converted

A lot of things which can be made wrong (Type of cable or jumper settings)

Results unpredicable

• ## unmountable boot volume for KRC2

Hi,

I am just wondering

Normally HDD is at IDE Primary Master (IDE Drive 1) Jumper set to single and DVD at IDE Secondary Master (IDE Drive 3) Jumper set to single

As seen at Picture DVD is at Primary Master (IDE Drive 1) and HDD at Secondary Slave (IDE Drive 4)

What are the Jumpers settings for DVD and HDD?

• ## unmountable boot volume for KRC2

what do you mean by

After connected the external DVD-rom to IDE port and recognized in the bios,

did you connect the DVD to IDE port or is it an external?

what mainboard do yo have with what bios version?

• ## unmountable boot volume for KRC2

Do you use CPC?

• ## KUKA KR10 SCARA KRC2sr

can you send a picture of the conveyor board?

• ## KUKA KR10 SCARA KRC2sr

using telnet, but at the moment I do not remember the commands to get there

• ## unmountable boot volume for KRC2

what a nice screen saver

It is not a problem of the mbr (otherwise you would not have the windows blue screen)

Have you tried F8 to reach the save mode?

• ## KUKA KR10 SCARA KRC2sr

I think your 3COM card is for "EthernetKRLXML" and this version was initially installed 2010.

So why did you reinstalled it, what is with the driver?

Can you check your windows driver (Device List) whether you can see the 3COM Card (which is not good) and can you also send vxwin.ini from Windows directory?

• ## deadman switch in external mode

As mentioned before: the operation panel is for EXT only (no deadman switch needed - Emergency Stop only).

While programming in T1 the safety gate is normally open and all programming should be done with the Smart HMI).

During this time the operation panel has to be disabled for safety reason (SPOC)

• ## WIN 95 reinstall with KSS

@LJ,

you would need to check with KUKA

Give them the serial number of the robot and probably they can help you

• ## deadman switch in external mode

I want to command my robot with an external teach pendant other than the SmartPad

what do you mean with command?

I know a couple of systems using an op (operator panel)

• ## Time machine needed: APS ARCH installation for KRC32

post #13 says "change battery", no machine data and therefore ESTOP

• ## SmartHMI not starting on boot after recovery

this is actually a hidden directory

You also can co it the hard way

Move the short cut with mouse to programs, start up. Here you will see probably empty. Move down until empty is underlined then release mouse button and the short cut should be there

• ## SmartHMI not starting on boot after recovery

create a short cut of the startkrc.exe on desktop

open Windows explorer and copy the short cut to "c:\Users\KukaUser\AppData\Roaming\Microsoft\Windows\Start Menu\Programs\Startup\"

• ## SmartHMi has stopped working

what software version?

what have you done when this happened?

I do not have my crystal ball available at the moment!