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Posts by M.Ozkan
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Nusret!
Why you do format to KRC?
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I don't have KRC1 robots but I think in option.dat $MOUSE_EMULATION or similar variable name.
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Code
Display More$condig.dat ;FOLD ArcTech Outputs DECL CTRL_OUT_T O_WELD_CTRL[15] O_WELD_CTRL[1]={OUT_NR 1,INI FALSE,NAME_NAT[] "Start Welding "} O_WELD_CTRL[2]={OUT_NR 0,INI FALSE,NAME_NAT[] "Robot in Position "} O_WELD_CTRL[3]={OUT_NR 0,INI FALSE,NAME_NAT[] "Trigger Program Nr "} O_WELD_CTRL[4]={OUT_NR 12,INI FALSE,NAME_NAT[] "Acknowledge Errors "} O_WELD_CTRL[5]={OUT_NR 0,INI FALSE,NAME_NAT[] "Sneezer "} O_WELD_CTRL[6]={OUT_NR 0,INI FALSE,NAME_NAT[] "Cleaner Motor "} O_WELD_CTRL[7]={OUT_NR 0,INI FALSE,NAME_NAT[] "Sprayer "} O_WELD_CTRL[8]={OUT_NR 0,INI FALSE,NAME_NAT[] " "} O_WELD_CTRL[9]={OUT_NR 9,INI FALSE,NAME_NAT[] "Gas purge "} O_WELD_CTRL[10]={OUT_NR 74,INI FALSE,NAME_NAT[] "Weld Error Signal "} O_WELD_CTRL[11]={OUT_NR 0,INI FALSE,NAME_NAT[] " "} O_WELD_CTRL[12]={OUT_NR 0,INI FALSE,NAME_NAT[] "Target Point reached"} O_WELD_CTRL[13]={OUT_NR 0,INI FALSE,NAME_NAT[] "Ignition ErrorSignal"} O_WELD_CTRL[14]={OUT_NR 10,INI FALSE,NAME_NAT[] "WireFeed + "} O_WELD_CTRL[15]={OUT_NR 11,INI FALSE,NAME_NAT[] "WireFeed - "} ;ENDFOLD (ArcTech Outputs)
If you using Robot Ready output number in section "OUT_NR" on the above line please delete it.
e.g
Robot Ready signal output number=15
This original line:
O_WELD_CTRL[2]={OUT_NR 15,INI FALSE,NAME_NAT[] "Robot in Position "}
To:
O_WELD_CTRL[2]={OUT_NR 0,INI FALSE,NAME_NAT[] "Robot in Position "}
and after please type in the sps.sub
$Out[15]=TRUE
This is a basically solution.
Keep in mind. When robot ready signal is FALSE and after then going to TRUE, inverter must be reset.
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I realized now. So sorry. My documentation only for KSS 4.1.X. I think this function only supported for KSS 4.1. Because unmentioned in operating manual for KSS 5.X.X
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Sorry I found on standart Operation manual Page 47 (Windows Mouse emulation mode)
But didn't work.
Please see attachment.
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It's not seen standart KRC manual. I have documentation and upload to forum tomorrow.
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"The only way to navigate is to use Windows shortcut keys...or a mouse!"
Mouse emulation function explained on admin handbook documents for K.S.S
I'm very curious and I want to know why didn't work.
Thank you for reply.
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Hello All
I know kuka software support mouse emulation mode with arrow keys. Shortcut key is SYM+ENTER but did't work with KSS 5.6.8.
Is any one know how to enable mouse emulation mode?
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STOP message cause of "Robot Ready" Signal.
when the Robot ready signal set to "True", inverter must be acknowledge error with "Source Error Reset" signal
You must Robot Ready signal always set to "TRUE" and if you using arctech digital declaration table in config.dat, you can delete this signal.
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Solved now.
I changed #ERSYS to #NONE and moving E1 axis stand alone with PTP command.
Thank you all.
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E1 properly working all the way. I set up External kinematic system with Measure->Linear Track menu and robot with external kinematic system working perfect together. But I think, I need async.
"Can you set $ASYNC_AXIS to 1 inside the MACHINE.DAT file without causing any errors?
I'll try tomorrow.
What is the value of $EX_AX_NUM?
$EX_AX_NUM=1Can you set $EX_AX_ASYNC instead of $ASYNC_AXIS?"
I tried before $EX_AX_ASYNC=1 but machine.dat giving incorrect data error.
Probably external kinematics might not be used asynchronous if they are defined as a robroot kinematic inside $machine.dat ($EX_KIN is set to #ERSYS). Have you tried setting $EX_KIN to #EASYS or EBSYS or ... or EFSYS instead?
What is the mean EASYS, EBSYS, EFSYS?
Our system set is #ERSYS
I'll try tomorrow another setting.
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Thank you for reply but I need asynchronous axis move for application.
Its not problem for me with robot kinematic system. But must be move async move E1.
My question is "How to move E1 axis without Robot axis?"
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Hello All
I have KR2210 and KL1500-2 linear track.
I want to set E1 to e.g 1800 mm with PTP, but robot moving with all axis.I found some information about async axis on internet but don't successfully running.
$ASYNC_AXIS='B000001'
ASYPTP {E1 2000}
in any sub but run time error occured "Value assignment inadmissible" error on $ASYNC_AXIS='B000001' line.
I try;
$ASYNC_AXIS=$ASYNC_AXIS B_OR 'B000001' instruction but run time error occured "Value assignment inadmissible" again.
$ASYNC_AXIS=$ASYNC_AXIS B_AND 'B000001' instruction without any error but E1 axis doesn't move. I checked $ASYNC_AXIS variable with Variable->single menu always is "0"
$ASYNC_OPT is TRUE and $ASYNC_MODE=2 (Bit 2 is true)
How to move E1 axis without Robot axis?
Any idea?Thanks.
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You can try for analog input "Calibration factor" Please refer K.S.S Manual.
e.g
iosys.ini
anin1=5,0,12,3,CAL 0x3fffif you using shielded cable, you must be connect shield to ground only one side.
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Typically anybus gateway communication with two master.
Ethernet/IP Master --> (Anybus Ethernet IP as Slave <-> Anybus Profinet IO as Slave) <-- Profinet Master
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Are you using KRC Interbus Card? (Phoenix Contact)?
You can scan to fieldbus with IBS CMD software from Phoenix Contact.
Parameterization Memory --> Read
or
Main Menu: Configuration --> Read
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"Drive On" signal does not necessary for T1 mode. "Drive On" signal only using "Auto" and "EXT" mode and not necessary always TRUE. Signal is working with 1 s pulse. "Drive Off" signal must be always TRUE for drives enable circuit in all modes. if you read "General Motion Enable" on message screen Move Enable signal must be "TRUE" in all modes.
Keep in mind:
You can simulate all signals with Input 1025 (This signal is Always TRUE from system)
You need safety circuit jumpers on X11 (X11: if you have standart KRC)
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You can make this option for KSS V4.1.6 Configure->Technology Selection-> A20 (ArchTech Digital) 0r A10 (ArcTech Analog) for MIG Welding
KSS V4.1.6 doesn't have default Technology Package for Plasma Cutting. You can find from KUKA (Laser.Tech) If you don't found your local dealer please send e-mail to: hotline@kuka.de
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if your robot currently running with KSS 4.1.6 software, probably don't run with new versions. Because KSS 5.X.X version need DSE-IBS C33 card.