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.
Posts by M.Ozkan
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Hello Brad2296
Fanuc send cllb.cm 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.
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You can use PSTART command with SYNC parameter and SMOV command
Main Program: No Group defined.
'R1 N1 SYNC 1 0
PSTART JOB:J9_S1_R1_N1_0_GRD_SYN SUB1 SYNC IF IG#(71)=1
'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
ARCON
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
ARCOF
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.
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S7-1500 and S7-1200 can be operated as Scanner and Adapter mode with Ethernet/IP
Just read related manuals from Siemens and Fanuc for Ethernet/IP
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KLI for Profinet, Ethernet/IP etc. (Kuka Line Interface)
EtherCAT already exist on controller.
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KLI Port reserved for this. Profinet option package required for communication. You can buy from Kuka.
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Your machine data (Robot Type) is not correct. Check robot and controller data matching.
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hello mookie;
KRC4 KSS 8.2, 8.3 and 8.4 need .NET Framework 3.5
8.5, 8.6 need .NET 4.6.1 and can load low versions.
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Hi
I will release soon.
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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.
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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!
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.
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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. -
Firstly library does not support old series krc1-2-3. Yes I can implement but probably next 5 years all one is will go to recyling. Library just support KRC4 and KRC5 controllers. I testing now all controller variants.
I am not using any kuka libraries or workvisual interfaces. This mean library working standalone and not need workvisual or uninstallation to workvisual. Probably there is other way to achive same result but I am not focused it. I guess kuka libraries under protection legal laws and I can't use for public share.
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Hello All;
I will release soon KRC4-5 SDK .NET Library. This library running on external pc with user .NET application. Library does not need any installation on robot and KSS version dependent. Network can be KLI port or other exist network port.
Please review attached reference documents and if you ask any question do not hesitate contact to me.
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VSS 5.4.10 KRC2.Bin file develop for VW to upgrade existing controller. You can not use file on different KSS versions for example KSS5.6. Because VxWin binaries is different.
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There is no need SMSetup.inf because KSS installation already install it.
MFC ISA+DSE IBS C33 can work until KSS 5.5. Upwards versions will not work because it is using MFC3 board with PCI bus. Generally KSS's until 5.5 can work all editions latest of Xpe. But you should use special Xpe for Kuka system.
- You can check on Windows environment Control Panel-> Network connections ->Virtual RTOS Network board available ?
- Is the IP address correct ? You should set IP Address 192.0.1.2 of adapter.
Cross 3 fault messages tell you there is wrong driver for KSS. You can try uninstall RTOS network adapter with device Manager of windows and try clean install to KSS. If not help to you just copy image from running robot and restore it. As other guys said: is violating legal law. Just try it, if this will work buy from kuka.
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Yes and No
Yes:
If you are using CX9020 as Ethercat Slave yes you can.
No: KUKA as Ethercat master and CX9020 as Ethercat master you need EL bridge terminals. For fail safe you need plus TwinSafe Logic.
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Nope. I open support request but no reply yet.
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Thank you MOM. I will contact to KUKA.