The second partition isn't needed for the robot operation, only the C: drive.
The second D: partition is a copy of the Kuka operating software, drivers, utilities etc.
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The second partition isn't needed for the robot operation, only the C: drive.
The second D: partition is a copy of the Kuka operating software, drivers, utilities etc.
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What is VEL=2.0?, I now that isn't the programmed speed of motion.
Thanks!
Yes it is!! 2 meters/second.
That is because it's a Linear move, with a PTP move it would be expressed as a percentage of the maximum... i.e 75 would be 75%
The hardware layer maybe, as a lot are Profibus/Unitelway etc but not vanilla RS485....
Well, he posted local .dat file and it is not declared there
Ah the joy of viewing on a phone! The CODE tags don't work
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Ah! A VKRC.....
I've never used one, but I know they are heavily modified, so I'm not sure.....hopefully someone who knows them can help.
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The question is why do you want to do this?
There are several ways, but knowing the reasoning behind it can help to select the best way
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Where is CIBLE declared?Global $config.dat ?
If it's declared in the local .dat file then you won't be able to monitor it unless the program is selected.
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You can check the condition of the inputs, and also change them from the KCP using the menu CONFIGURE > I/O > AUTOEXTERNAL
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Easy, add 2048 to the number on the PLC, send to the robot, subtract 2048 at the robot end
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I can't say I've looked at that variable before, but generally a [3] would refer to axis 3 not 4?
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Off the top of my head (no documentation at home!)
APO_DIST Approximation distance
ORI_TYP Orientation type
JERK_FAC, EXAX_IGN 0 These look like they could be new in KSS 8 as I've not noticed them before.
SkyeFire explained it all!!
@Skyfire
$BWDSTART=FALSE is to disable backward motion, and I never use it as it's never worked for me either!
QuoteXHOME is the "local copy" of the Home position, in the .DAT file of this module, which gets updated using the TouchUp key.
I was under the impression XHOME was global as it's postion is held in the $CONFIG.DAT
Although I've never really checked I thought $h_pos=XHOME means that the structure that stores the actual home position is set with the values of XHOME?
?? A standard move to the home position. It's an inline command with the fold open.
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Actually it was the SPS (& $config.dat) I was trying to paste!
Mmmmmm...
Just playing with KRC1 (4.1.7) and get the "Cannot overwrite linked file: " error when I try to paste.
The only way I've found to do it is to load the files before KSS starts, I've been doing this for years...but if there is an easier way
If you check on the D drive (D:\Internat\MADA) there should be the machine data for a whole variety of robots, pick the correct one you need to replace the one for the KR150, no need for reinstalling software. Pay particular attention to getting the right one though!
Never used ABB, but had a quick google and lin_rel seems to be similar.
See the attachment