Posts by M.Ozkan

    Connector pinout shows all signal of the gun. You can't connect some signal to RDW box. For example digital I/O's and 24V signal should be connect externally or to Robot I/O modules.

    In RDW you can just connect resolvers signal and temperature sensor.

    Are people outside kuka not allowed to create plugins for kuka HMI?

    Everyone create plugins there is no limitations. (If you know how to do)

    Do you need to buy license to create plugins?

    There is no need licence. Because it is not salable products of Kuka.

    Do you have to pay for documentation (to get demo plugin source code)?

    There is no documentations. Because it is not public and normally users not need to write own plugins (Kuka thinks so)

    Sorry I don't remember clearly which tool used but some holes included three dowel pins inside. If you didn't remove dowel pins may can prevent to remove flange.

    If I remember correctly, some screws on the opposite side need to be unscrewed from the robot base. After that, the gearbox can be completely disassembled. I completely disassembled it a long time ago, but there is no replacement part inside of the gearbox. We have some backlash issue and we just replaced the bearings and the problem went away.

    Theoretically negative values cause not to energy consumption because motors generate own energy to main DC Link. This mean negative values is not adding to total consumption. Please note ABB's consumption counter is not only axis values it is including total consumption with external units mainboard, display etc. When you stop the robots total consumption still increasing because controller components need to energy to work.

    Sometimes axis motors under regenerative effect and generate own energy cause of external load or conservation of energy rules. It is absolutely normal and generated energy absorbed by brake resistors. If you see minus value of axis, this mean the axis generate energy itself.

    Hello Brad2296

    Fanuc send file in compact disc. It is not included in robot memory. just shipped with CD in controller panel. Sometimes Fanuc send defected file, I have a lot of defected file from Fanuc. Please call your local dealer and get support with serial number of robots.

    Please note: Sensor file is unique and you should not copy between robots. Cobot function may not work as expected.

    You can use PSTART command with SYNC parameter and SMOV command

    Main Program: No Group defined.

    'R1 N1 SYNC 1 0


    'R2 N1 SYNC 0

    PSTART JOB:J9_S1_R2_N1_0_GRD_SYN SUB2 IF IG#(71)=1

    Welding Program: R1+S1:S1 or R2+S1:S1

    MOVJ C00004 VJ=100.00 +MOVJ EC00004 VJ=100.00


    SMOVC C00005 V=12.5 +MOVJ EC00005

    SMOVC C00006 V=12.5 +MOVJ EC00006

    SMOVC C00007 V=12.5 +MOVJ EC00007

    SMOVC C00008 V=12.5 +MOVJ EC00008

    SMOVC C00009 V=12.5 +MOVJ EC00009

    SMOVC C00010 V=12.5 +MOVJ EC00010

    SMOVC C00011 V=12.5 +MOVJ EC00011

    SMOVC C00012 V=12.5 +MOVJ EC00012

    SMOVC C00013 V=12.5 +MOVJ EC00013


    For example if you have two robots plus one or more external axes you can synchronize all dependent robots to positioners movement. Positioners as master and robots is slave mode. If the positioner slow during movement robot is automatically slow or vice versa.


    What do you mean by Beckhoff TwinCat?

    This is actually a software package consisting of the runtime (soft plc - CoDeSys) and the ide (programming).

    How is the connection from "TwinCat" to the robot?

    Twincat runtime and ide can be seperate. IDE installation does not required on robot. User can be assign KONI port for Twincat fieldbus interface and bridge to KLI with industrial switch. I am not recommend this I just say it is possible. Users can be use all supported fieldbus protocol with Twincat for robot communications just like profinet, ethernet/IP etc.. with associated licence. Sometimes Kuka products does not meet different kind requirements and I guess capital9 search a right solution.


    Distributing components of WoV with your library would probably violate legal restrictions. OTOH, if your library simply utilized WoV components that the end user already had installed legally, it becomes a bit of a grey area.

    Regardless, if you can make this work without utilizing any WoV components, more power to you! :thumbup:

    Yes I think same manner. Just like you say my methods give more free zone and I can change if I don't liked. Otherwise it is can not be version dependent and library can not be import some variations of kuka library. I don't have time and effort for test all released kuka versions with my library. I think I am on good way and don't need to use kuka libraries.

    Beckhoff Twincat can work on kuka pc. I didn't try tc3 but tc2 will working without any problem. Try TC3 installation folder win8settick.bat file and try this after take image of hdd:

    elevated command prompt run the following :-

    bcdedit /set UseLegacyApicMode yes

    bcdedit /set disabledynamictick yes

    bcdedit /set useplatformtick yes

    dism.exe /Online /Disable-Feature:Microsoft-Hyper-V

    perform reboot.