Posts by kishan

kuka kr210 L150-2 k2000

I am working with milling application with this robot.

This is not position accurate robot. I checked for .pid file inside controller but wasn't able to find.

having issues with cartesian values which robot is giving.

A1 axis for 0,+90,-90 position gives different values for X,Y,Z.

it gives variations while machining using track.

but my concern is this changing of values.

for Y axis when robot is in home position its value is changing over a period of time (2 weeks approx).

it got changed from -2.78 to +2.78 to now -0.98.

why these values are changing and how to resolve.

there are no errors showing from controller side.

checked reputability of the track its good but when robot machining is going on (ruffing) its carriage is moving approx 2 to 3 mm.

it shouldn't be moving when robot is stationary right?

one more thing I noticed was counterbalance sound.

I have recorded one video also for that.

please go through the data I am attaching and please advise.

thank you.

Can I find it in controller, if previously installed by the installer. if it is then where I should look in too.

&PARAM VERSION = 3.8.1

DEFDAT $OPTION PUBLIC

CHAR $V_OPTION[32]

$V_OPTION[]="V3.8.1/KUKA5.6" ;VERSIONSKENNUNG

BOOL $DRIVE_CP=TRUE ;BAHNFAHREN

BOOL $DRIVE_CART=TRUE ;PTP MIT KARTESISCHEN KOORDINATEN

BOOL $IMPROVEDMIXEDBLENDING=TRUE ;verbessertes gemischtes Ueberschleifen

BOOL $IMPROVEDCPBLENDING=TRUE

BOOL $EXT_AXIS=TRUE ;EXTERNE ACHSEN VORHANDEN

BOOL $TECH_OPT=TRUE ;FUNKTIONSGENERATOR

BOOL $ENDLESS=TRUE ;ENDLOS DREHENDE ACHSEN

BOOL $TCP_IPO=TRUE ;GREIFERBEZOGENE INTERPOLATION

BOOL $ASYNC_OPT=FALSE

BOOL $SEP_ASYNC_OV=FALSE ;Schalter fuer asynchrone Hand-Overrides

DECL MSG_T $MSG_T={VALID FALSE,RELEASE FALSE,TYP #NOTIFY,MODUL[] " ",KEY[] " ",PARAM_TYP #VALUE,PARAM[] " ",DLG_FORMAT[] " ",ANSWER 0}

BOOL $LOOP_CONT=FALSE

CHAR $LOOP_MSG[128]

BOOL $ABS_ACCUR=FALSE ;ABSOLUTGENAUES ROBOTERMODELL

BOOL $IDENT_OPT=TRUE

INT $SINGUL_STRATEGY=0 ;0=NONE, 1=APPROX

BOOL $MOT_STOP_OPT=FALSE ;AKTIVIERUNG "BLOCK EXTERNAL START"

BOOL $IOWR_ON_ERR=FALSE ;AUSGANGSAENDERUNG BEI BUSFEHLER ERLAUBT

BOOL $CHCK_MOVENA=TRUE ;AB-UND EINSCHALTEN DER UEBERPRUEFUNG DER EINGANGSNUMMER VON $MOVE_ENABLE

INT $SET_IO_SIZE=1 ;SETZEN EA-BEREICH (1=1024, 2=2048, 4=4096)

BOOL $DIGIN_FILT=TRUE ;DIGIN DYNAMIC FILTER (CONVEYOR)

BOOL $DATA_INTEGRITY=FALSE ;SIGNAL-DATENKONSISDENZ EIN/AUS

BOOL $T2_AUT_WARNING=FALSE ;SHOWS A WARN MESSAGE IN CASE OF CHANGING OPERATION MODE TO T2 OR AUT

BOOL $COLLISAVOID=FALSE ;

BOOL $MOTIONCOOP=FALSE ;

BOOL $PROGCOOP=FALSE ;

BOOL $T2_OV_REDUCE=TRUE ;TRUE = Overridereduzierung auf 10 % in Mode T2

BOOL $EXT_ACCU_MON=FALSE ;externe Akkuueberwachung mit DC-USV-Modul15

BOOL $PHASE_MONITORING=FALSE ;Netzphasenausfallueberwachung

BOOL $VAR_TCP_IPO=FALSE

ENDDAT

i found this $abs_accur variable in option.dat file

which is false. in order to make it aa model i have to make it = true .

thank you for the quick response.

will keep you updated

Quote from Fubini

Is load data set correct?

I have inserted load data manually but i am looking for ldd to make it perfect.

by end of this week will get it.

Quote from Fubini

How did you check accuracy?

I used program to check the accuracy.

Quote from Fubini

Has your robot absolute accuracy?

I dont know how to check whether my robot is with absolute accuracy or not.

please let me know how can I check that.

Quote from Fubini

You should definetly measure in your KL if not done already. Should be done by the external axis menu entry. This should correct mounting errors of the robot on the KL.

-it should be done through axis configurator-external kinematics and in TFLA1 right. where we put track height.

hi ,

I have kuka krc2 kr210 L150-2 k 2000 robot with kuka kl-1500_3 linear track.

I have milling application running on my robot.

The problem is it was giving dimension errors(10 to 12 mm plus then actual cad data)after machining and more then 3 mm steps were coming while moving from one program to another program.

for solution I followed below procedure:

did mastering

checked the mastering and error for each axis it was too low.

started doing tcp for the robot as I have to take 3 readings for short spike and long spike each to update in power mill software to generate tool data based on these readings.

i did the tcp and then did abc world. i got error = 0.23

while moving the tcp in abc world it is deviating more then 6 mm in all AB & C.(rotation angle not more then 20 to 30 degrees)

did tcp several times but same result error is low, but tcp is not staying still at pointer tip.(followed technique suggested by Mr. Werner Hempel in his you tube video of tcp explained but no luck same result)

checked machine data. it is fine.

track travel distance also checked. it is physically moving correct same distance given form the program but tech pendant reading is not matching with physical movement.

it is giving 2.33 mm difference from linear track movement.(axis data and cartesian data not matching)

one more thing I noticed that while robot is on (0,-90,90,0,0,0 E1 0) position while tool and base is null frame in cartesian Data Y should be 0 right.

but here while tool and base is null Y=2.22 showing. is it right.

please help me out in this what can I do to minimize this error at least near to 1 to 1.5mm.

attaching the images for all and machine data also.

robot files.zip

sir, i am new to kuka.
i don't have any reference to check connector x11.
will you guide me through the process. so, i can check it and confirm whether it's outside signal which is causing the problem or the esc board.?

thank you.

images

when I start the program :

1>led 2,3 and 4 are showing constant green.
2>led 6 and 5 (red) blinking constantly.

when it stops and gives an error:

1> led no 6 shows steady red

I am attaching the snaps of led status and the error msg.

hi,
I am working with Kuka KR 180 with the krc2 controller.
when I start a program it works quite well up to 35 to 40 mins then after it shows an error: unknown operation mode and the robot stops.
during this what I observed is: when I start a program its kps shows 2nd led the continuous green and led no 3 and 4 works with flashing red color.
when I get the above error status of the led 3 changes to continuous red.
when I press the reset button on the ESC board the error resets and I can resume the program again, but this process is continuous. it gives this error after every 30 to 40 mins.
my question is what should be the probable cause for this

I don't know where to find the solution and what device is causing this error either kps 600 or the ESC BOARD ??
PLEASE GUIDE ME on this.

thank you

sir,
i want to learn plc integration with robot
any resources i do have the knowledge of plc programming
but want to learn integration to and how to control robot using plc signals

thanks & regards,
kishan panchal

Hello
I want to learn delmia software from where I get the resources.?

hello sir,
i m currently working with the motoman ma1400 robot with dx100 controller.
currently ss welding opertion is going on that robot.the problem which i m having is that the filler wire which is coming from the wire feeder gets cut from the feeder during the welding operation and gets short on the manipulator body.due to this problem 2 to 3 times the encoder wire got burned totally.i m uploading the photoes of robo and its fixture.hope i will get the reply soon...