What I actually wanted to ask is:
The post processor of my RM is 6axis + 1 external axis (linear track), can I switch the linear track and rotary table's power & resolver cable around so that I can mill a statue with the rotary table( E1, used to be E2)?
Posts by happytriger2000
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Have to be a member in order to use external axis.
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Hi,
Has anyone used Kuka + rotary table to mill a statue? with which software brand?thanks,
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Is fine now, just need a few more minutes to read the floppy....
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Hi,
I accidentally rejected floppy while it still being read, since then the blue loading bar just repeats and does not load the contents of floppy nor R1 program folder, how do I solve this?thanks,
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Dear friendsI am trying to read an analog input from KRC2, for this I have configured LDB file (Attachment of Com profibus Screen), and IOSYS.ini. In this case when I apply 5 VDC to first Chanel of my analog input card I get the value of ANIN1 less than 1 while i configured +/- 10 VDC.you know the value of $ANIN[1] is real ,and for my example 0.25 is nothing !!!!!!Why I get this value in robot screen? (Attachment of KRC Screen shot).
My IOSYS.ini
[PBMASL]
INB0=56,0,x4
ANIN1=56,4,12,2
ANIN2=56,6,12,2
Also I have attached my LDB file you can open it via com profibus.Can somebody help me ?
Try ANOUT1=56,4,12,3
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Code
Display More$BASE={X 1320.0000,Y 16.5000,Z 358.0000,A 0.0000,B 0.0000,C 0.0000} $TOOL={X 437.7458,Y -8.5000,Z 553.5430,A 180.0000,B -59.0000,C 0.0000} $ADVANCE = 5 PTP {A1 0.0000,A2 -90.0000,A3 90.0000,A4 0.0000,A5 0.0000,A6 0.0000} $out[2]=TRUE $ANOUT[1] = 1 PTP {X 298.0000,Y 25.0000,Z 250.0000,A 0.0000,B 0.0000,C 180.0000,S 2,T 35} C_PTP PTP {X 298.0000,Y 25.0000,Z 25.0000,A 0.5095,B 0.0000,C 180.0000,S 2,T 35} C_PTP PTP {X 298.0000,Y 25.0000,Z 10.0000,A 1.6746,B 0.0000,C 180.0000,S 2,T 35} C_PTP $VEL.CP=3 LIN {X 298.0000,Y 25.0000,Z 0.0000,A 3.2190,B 0.0000,C 180.0000} C_DIS
OK working now, thanks!
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Is this correct:
Code
Display More&ACCESS RVP &REL 1 &COMMENT GENERATED BY ROBOTMASTER &PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe &PARAM EDITMASK = * DEF REC3spin10() EXT BAS (BAS_COMMAND :IN,REAL :IN ) INT I BAS (#INITMOV,0 ) ;******SETTINGS FOR PTP MOTION*********************** ;FOLD ;SET PTP $VEL_AXIS AND $ACC_AXIS FOR I=1 TO 6 $VEL_AXIS[I]=50 $ACC_AXIS[I]=100 ENDFOR ;ENDFOLD (SET PTP $VEL_AXIS AND $ACC_AXIS) ;******SETTINGS FOR LIN AND ARC MOTION*************** ;FOLD ;SET LIN AND ARC MOTION VARIABLES $VEL.CP=3 $VEL.ORI1=200 $VEL.ORI2=200 $ACC.ORI1=100 $ACC.ORI2=100 ;ENDFOLD (SET LIN AND ARC MOTION VARIABLES) ;******SETTINGS FOR POSITIONING CRITERIA************* ;FOLD ;SET POSITIONING CRITERIA $APO.CPTP = 50.0000 $APO.CDIS = 0.5000 ;ENDFOLD (SET POSITIONING CRITERIA) $BASE={X 1320.0000,Y 16.5000,Z 358.0000,A 0.0000,B 0.0000,C 0.0000} $TOOL={X 437.7458,Y -8.5000,Z 553.5430,A 180.0000,B -59.0000,C 0.0000} $ADVANCE = 5 PTP {A1 0.0000,A2 -90.0000,A3 90.0000,A4 0.0000,A5 0.0000,A6 0.0000} PTP {X 298.0000,Y 25.0000,Z 250.0000,A 0.0000,B 0.0000,C 180.0000,S 2,T 35} C_PTP PTP {X 298.0000,Y 25.0000,Z 25.0000,A 0.5095,B 0.0000,C 180.0000,S 2,T 35} C_PTP PTP {X 298.0000,Y 25.0000,Z 10.0000,A 1.6746,B 0.0000,C 180.0000,S 2,T 35} C_PTP DEF spin9(Freq :IN, Wait_time :IN) DECL INT Freq, Wait_time ; Freq - neccesary frequency, wait_time - neccesary time to reach frequency IF ((Wait_time>0) AND (Wait_time<21) AND (Freq>99) AND (Freq<24001)) THEN ;necce $ANOUT[1] = 1 ;scale Freq to arrange from 0..10V for spindle 0..24000 rpm $OUT[2] = TRUE ;!!!! INSTEAD OUT1 should be some signal to start spindle WAIT SEC Wait_time ELSE ;Set error message HALT ENDIF $VEL.CP=0.003581 LIN {X 298.0000,Y 25.0000,Z 0.0000,A 3.2190,B 0.0000,C 180.0000} C_DIS LIN {X 298.0000,Y 15.0000,Z 0.0000,A 5.0131,B 0.0000,C 180.0000} C_DIS CIRC {X 300.9289,Y 7.9289,Z 0.0000,A 6.9834,B 0.0000,C 180.0000},{X 308.0000,Y 5.0000,Z 0.0000,A 9.0826,B 0.0000,C 180.0000} C_DIS LIN {X 616.0000,Y 5.0000,Z 0.0000,A 11.2783,B 0.0000,C 180.0000} C_DIS CIRC {X 619.5355,Y 3.5355,Z 0.0000,A 13.5461,B 0.0000,C 180.0000},{X 621.0000,Y 0.0000,Z 0.0000,A 15.8670,B 0.0000,C 180.0000} C_DIS LIN {X 621.0000,Y -910.0000,Z 0.0000,A 18.2254,B 0.0000,C 180.0000} C_DIS CIRC {X 619.5355,Y -913.5355,Z 0.0000,A 20.6079,B 0.0000,C 180.0000},{X 616.0000,Y -915.0000,Z 0.0000,A 23.0020,B 0.0000,C 180.0000} C_DIS LIN {X 0.0000,Y -915.0000,Z 0.0000,A 25.3962,B 0.0000,C 180.0000} C_DIS CIRC {X -3.5355,Y -913.5355,Z 0.0000,A 27.7786,B 0.0000,C 180.0000},{X -5.0000,Y -910.0000,Z 0.0000,A 30.1370,B 0.0000,C 180.0000} C_DIS LIN {X -5.0000,Y 0.0000,Z 0.0000,A 32.4580,B 0.0000,C 180.0000} C_DIS CIRC {X -3.5355,Y 3.5355,Z 0.0000,A 34.7257,B 0.0000,C 180.0000},{X 0.0000,Y 5.0000,Z 0.0000,A 36.9214,B 0.0000,C 180.0000} C_DIS LIN {X 308.0000,Y 5.0000,Z 0.0000,A 39.0207,B 0.0000,C 180.0000} C_DIS CIRC {X 315.0711,Y 7.9289,Z 0.0000,A 40.9909,B 0.0000,C 180.0000},{X 318.0000,Y 15.0000,Z 0.0000,A 42.7851,B 0.0000,C 180.0000} C_DIS LIN {X 318.0000,Y 25.0000,Z 0.0000,A 44.3294,B 0.0000,C 180.0000} C_DIS PTP {X 318.0000,Y 25.0000,Z 25.0000,A 45.4945,B 0.0000,C 180.0000,S 2,T 34} C_PTP PTP {X 318.0000,Y 25.0000,Z 250.0000,A 46.0040,B 0.0000,C 180.0000,S 2,T 34} C_PTP PTP {A1 0.0000,A2 -90.0000,A3 90.0000,A4 0.0000,A5 0.0000,A6 0.0000} END
or
Code
Display More&ACCESS RVP &REL 1 &COMMENT GENERATED BY ROBOTMASTER &PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe &PARAM EDITMASK = * DEF REC3-1() EXT BAS (BAS_COMMAND :IN,REAL :IN ) INT I BAS (#INITMOV,0 ) ;******SETTINGS FOR PTP MOTION*********************** ;FOLD ;SET PTP $VEL_AXIS AND $ACC_AXIS FOR I=1 TO 6 $VEL_AXIS[I]=50 $ACC_AXIS[I]=100 ENDFOR ;ENDFOLD (SET PTP $VEL_AXIS AND $ACC_AXIS) ;******SETTINGS FOR LIN AND ARC MOTION*************** ;FOLD ;SET LIN AND ARC MOTION VARIABLES $VEL.CP=3 $VEL.ORI1=200 $VEL.ORI2=200 $ACC.ORI1=100 $ACC.ORI2=100 ;ENDFOLD (SET LIN AND ARC MOTION VARIABLES) ;******SETTINGS FOR POSITIONING CRITERIA************* ;FOLD ;SET POSITIONING CRITERIA $APO.CPTP = 50.0000 $APO.CDIS = 0.5000 ;ENDFOLD (SET POSITIONING CRITERIA) $BASE={X 1320.0000,Y 16.5000,Z 358.0000,A 0.0000,B 0.0000,C 0.0000} $TOOL={X 437.7458,Y -8.5000,Z 553.5430,A 180.0000,B -59.0000,C 0.0000} $ADVANCE = 5 PTP {A1 0.0000,A2 -90.0000,A3 90.0000,A4 0.0000,A5 0.0000,A6 0.0000} PTP {X 298.0000,Y 25.0000,Z 250.0000,A 0.0000,B 0.0000,C 180.0000,S 2,T 35} C_PTP PTP {X 298.0000,Y 25.0000,Z 25.0000,A 0.5095,B 0.0000,C 180.0000,S 2,T 35} C_PTP PTP {X 298.0000,Y 25.0000,Z 10.0000,A 1.6746,B 0.0000,C 180.0000,S 2,T 35} C_PTP SPIN9(200,10) $VEL.CP=0.003581 LIN {X 298.0000,Y 25.0000,Z 0.0000,A 3.2190,B 0.0000,C 180.0000} C_DIS LIN {X 298.0000,Y 15.0000,Z 0.0000,A 5.0131,B 0.0000,C 180.0000} C_DIS CIRC {X 300.9289,Y 7.9289,Z 0.0000,A 6.9834,B 0.0000,C 180.0000},{X 308.0000,Y 5.0000,Z 0.0000,A 9.0826,B 0.0000,C 180.0000} C_DIS LIN {X 616.0000,Y 5.0000,Z 0.0000,A 11.2783,B 0.0000,C 180.0000} C_DIS CIRC {X 619.5355,Y 3.5355,Z 0.0000,A 13.5461,B 0.0000,C 180.0000},{X 621.0000,Y 0.0000,Z 0.0000,A 15.8670,B 0.0000,C 180.0000} C_DIS LIN {X 621.0000,Y -910.0000,Z 0.0000,A 18.2254,B 0.0000,C 180.0000} C_DIS CIRC {X 619.5355,Y -913.5355,Z 0.0000,A 20.6079,B 0.0000,C 180.0000},{X 616.0000,Y -915.0000,Z 0.0000,A 23.0020,B 0.0000,C 180.0000} C_DIS LIN {X 0.0000,Y -915.0000,Z 0.0000,A 25.3962,B 0.0000,C 180.0000} C_DIS CIRC {X -3.5355,Y -913.5355,Z 0.0000,A 27.7786,B 0.0000,C 180.0000},{X -5.0000,Y -910.0000,Z 0.0000,A 30.1370,B 0.0000,C 180.0000} C_DIS LIN {X -5.0000,Y 0.0000,Z 0.0000,A 32.4580,B 0.0000,C 180.0000} C_DIS CIRC {X -3.5355,Y 3.5355,Z 0.0000,A 34.7257,B 0.0000,C 180.0000},{X 0.0000,Y 5.0000,Z 0.0000,A 36.9214,B 0.0000,C 180.0000} C_DIS LIN {X 308.0000,Y 5.0000,Z 0.0000,A 39.0207,B 0.0000,C 180.0000} C_DIS CIRC {X 315.0711,Y 7.9289,Z 0.0000,A 40.9909,B 0.0000,C 180.0000},{X 318.0000,Y 15.0000,Z 0.0000,A 42.7851,B 0.0000,C 180.0000} C_DIS LIN {X 318.0000,Y 25.0000,Z 0.0000,A 44.3294,B 0.0000,C 180.0000} C_DIS PTP {X 318.0000,Y 25.0000,Z 25.0000,A 45.4945,B 0.0000,C 180.0000,S 2,T 34} C_PTP PTP {X 318.0000,Y 25.0000,Z 250.0000,A 46.0040,B 0.0000,C 180.0000,S 2,T 34} C_PTP PTP {A1 0.0000,A2 -90.0000,A3 90.0000,A4 0.0000,A5 0.0000,A6 0.0000} END
2nd code appeared as a text file ...
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Thanks Panic Mode,
$OUT[1] and $ANOUT[1] are correct. No more red cross. -
You need to set Macid and Baudrate under:
C:\KRC\ROBOTER\INIT\DEVNET.INI
Read through Beckoff manual, I don't use Beckoff.under C:\KRC\ROBOTER\INIT\IOSYS.INI then goto Devnet, under Devnet enter:
ANOUT1=5,0,16,2,cal32767
ANOUT2=5,2,16,2,cal32767
OUTB0=5,4,x1 ; $in[1..8]
INB0=5,0,x1 ; $out[1..8]Then read reply#77, the clue is there.
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It seems that ANOUT1 and OUT1 are not declared, help...
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About these 2 lines:
ANOUT1 = (Freq*10.0)/12000.0 ;scale Freq to arrange from 0..10V for spindle 0..24000 rpm
OUT1 = TRUE ;!!!! INSTEAD OUT1 should be some signal to start spindleThe OUT1, I think this refers to Digital Out 2 (Wago DI module DI2) that switch on or activate FWD at Terminal 1 of the VFD in my setup.
I load firl spindle_on.src to KRC1, got line error 5 and 6: -
From the example code I do not know what value to enter for "Freq : In", because it is the dc voltage that drives the spindle speed, unless there's a way to convert voltage to frequency. For 1 v analog out = 20hz ( displayed on vfd's display, max freq out max = 200hz.).
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Under IOsys.ini---> Devnet:
ANOUT1=5,0,16,2
ANOUT2=5,2,16,2
OUTB0=5,4,x1 ; $in[1..8]
INB0=5,0,x1 ; $out[1..8] -
Thanks.
"4. This program is just an example, so it wouldn't work at your side. To make it work, you have to know how do you control your spindle. It's "$ANOUT[n]" or "$OUT[n]" or "$OUT[n] TO $OUT[m]" and so on.Do you know how to control your Frequency changer?"
I use analog output 0~10V to change spindle speed, 1v = 10% of 12000rpm
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Thanks for the example.
I'm not really good at programming, but I will try.
The example code provided will be placed at the beginning of the src file ? -
Hi,
Code
Display More&ACCESS RVP &REL 1 &COMMENT GENERATED BY ROBOTMASTER &PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe &PARAM EDITMASK = * DEF REC3() EXT BAS (BAS_COMMAND :IN,REAL :IN ) INT I BAS (#INITMOV,0 ) ;******SETTINGS FOR PTP MOTION*********************** ;FOLD ;SET PTP $VEL_AXIS AND $ACC_AXIS FOR I=1 TO 6 $VEL_AXIS[I]=50 $ACC_AXIS[I]=100 ENDFOR ;ENDFOLD (SET PTP $VEL_AXIS AND $ACC_AXIS) ;******SETTINGS FOR LIN AND ARC MOTION*************** ;FOLD ;SET LIN AND ARC MOTION VARIABLES $VEL.CP=0.003581 $VEL.ORI1=200 $VEL.ORI2=200 $ACC.ORI1=100 $ACC.ORI2=100 ;ENDFOLD (SET LIN AND ARC MOTION VARIABLES) ;******SETTINGS FOR POSITIONING CRITERIA************* ;FOLD ;SET POSITIONING CRITERIA $APO.CPTP = 50.0000 $APO.CDIS = 0.5000 ;ENDFOLD (SET POSITIONING CRITERIA) $BASE={X 1320.0000,Y 16.5000,Z 358.0000,A 0.0000,B 0.0000,C 0.0000} $TOOL={X 437.7458,Y -8.5000,Z 553.5430,A 180.0000,B -59.0000,C 0.0000} $ADVANCE = 5 PTP {A1 0.0000,A2 -90.0000,A3 90.0000,A4 0.0000,A5 0.0000,A6 0.0000} PTP {X 298.0000,Y 25.0000,Z 250.0000,A 0.0000,B 0.0000,C 180.0000,S 2,T 35} C_PTP PTP {X 298.0000,Y 25.0000,Z 25.0000,A 0.5095,B 0.0000,C 180.0000,S 2,T 35} C_PTP PTP {X 298.0000,Y 25.0000,Z 10.0000,A 1.6746,B 0.0000,C 180.0000,S 2,T 35} C_PTP $VEL.CP=0.003581 LIN {X 298.0000,Y 25.0000,Z 0.0000,A 3.2190,B 0.0000,C 180.0000} C_DIS LIN {X 298.0000,Y 15.0000,Z 0.0000,A 5.0131,B 0.0000,C 180.0000} C_DIS CIRC {X 300.9289,Y 7.9289,Z 0.0000,A 6.9834,B 0.0000,C 180.0000},{X 308.0000,Y 5.0000,Z 0.0000,A 9.0826,B 0.0000,C 180.0000} C_DIS LIN {X 616.0000,Y 5.0000,Z 0.0000,A 11.2783,B 0.0000,C 180.0000} C_DIS CIRC {X 619.5355,Y 3.5355,Z 0.0000,A 13.5461,B 0.0000,C 180.0000},{X 621.0000,Y 0.0000,Z 0.0000,A 15.8670,B 0.0000,C 180.0000} C_DIS LIN {X 621.0000,Y -910.0000,Z 0.0000,A 18.2254,B 0.0000,C 180.0000} C_DIS CIRC {X 619.5355,Y -913.5355,Z 0.0000,A 20.6079,B 0.0000,C 180.0000},{X 616.0000,Y -915.0000,Z 0.0000,A 23.0020,B 0.0000,C 180.0000} C_DIS LIN {X 0.0000,Y -915.0000,Z 0.0000,A 25.3962,B 0.0000,C 180.0000} C_DIS CIRC {X -3.5355,Y -913.5355,Z 0.0000,A 27.7786,B 0.0000,C 180.0000},{X -5.0000,Y -910.0000,Z 0.0000,A 30.1370,B 0.0000,C 180.0000} C_DIS LIN {X -5.0000,Y 0.0000,Z 0.0000,A 32.4580,B 0.0000,C 180.0000} C_DIS CIRC {X -3.5355,Y 3.5355,Z 0.0000,A 34.7257,B 0.0000,C 180.0000},{X 0.0000,Y 5.0000,Z 0.0000,A 36.9214,B 0.0000,C 180.0000} C_DIS LIN {X 308.0000,Y 5.0000,Z 0.0000,A 39.0207,B 0.0000,C 180.0000} C_DIS CIRC {X 315.0711,Y 7.9289,Z 0.0000,A 40.9909,B 0.0000,C 180.0000},{X 318.0000,Y 15.0000,Z 0.0000,A 42.7851,B 0.0000,C 180.0000} C_DIS LIN {X 318.0000,Y 25.0000,Z 0.0000,A 44.3294,B 0.0000,C 180.0000} C_DIS PTP {X 318.0000,Y 25.0000,Z 25.0000,A 45.4945,B 0.0000,C 180.0000,S 2,T 34} C_PTP PTP {X 318.0000,Y 25.0000,Z 250.0000,A 46.0040,B 0.0000,C 180.0000,S 2,T 34} C_PTP PTP {A1 0.0000,A2 -90.0000,A3 90.0000,A4 0.0000,A5 0.0000,A6 0.0000} END
I would like to switch spindle on after this line:
PTP {A1 0.0000,A2 -90.0000,A3 90.0000,A4 0.0000,A5 0.0000,A6 0.0000}
spindle on (3000,1)I was told that I need to write a subroutine for "spindle on", please explain subroutine and how does it work?
thanks,
thanks,
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From this link you can download 95a bootdisk.iso:
http://www.allbootdisks.com/download/iso.html
Burn it into a CD-R disk not DVD-R:
Load it to KRC1 Cd-rom, enter to win95 MS-dos:
copy extrac.exe from Cd to C drive,
I have done the above, but in the C drive there's no C:\cabs folder....