Posts by tbex

Sounds like "arc established" input signal to robot is missing.

Could it be wrong value in ARC OFF parameter "End crater time"?

I add my question to this old topic.

Is there any difference in KPP/KSP between krc2 and krc2 ed05?

Or is it required to only change KUKA pc and attached optional cards when upgrading from win95 to xp?

You will receive documentation/manuals when you get those robots. Some basic maintenance information will be found from there.

How about connector X251 on SIB board?

How about SafeSingleBrake option? We used that with KP3 positioner.

I faced a problem that when Work Visual button on smartPad is pressed it says "The list of projects is pending!". After a while this window just closes and project management window and existing project aren't showed. Button "Open" is grey and locked.

After this I also noticed that Work Visual can't find this controller anymore. Trying to browse projects from specified IP address causes error like device could not be found.

Ethernet connection is working because it's possible to access shared folders.

When I restored image with recovery stick this connection and activation started to work like earlier. Then I noticed that there's one .pkg file in the projectroot folder (C\KRC\USER\Projectroot). Name of this file is like S-1-5-21-nnnnnnnnnnnnnnnnnnn.pkg and seems to refer device id. This file was missing in non working setup.

What is this file? Is it the reason for WoV connection and activation problem?

I forgot to mention versions... WoV 4.0.13 and KSS 8.3.21.

Wire the shock sensor cable to digital input which has been mapped to specified krc input.
Configure ArcTech I/O and collision detect input number. Reverse default status to TRUE if needed under expert I/O setup.
Enable collision detection under ArcTech global settings.

I think you would need KUKA.SafetyOperation or KUKA.SafeRangeMonitoring to restrict tool angles in a safety way.

You are not using Arctech option and ARC ON command I think?

Does it feed any wire?

Do you have configured power source with the WorkVisual yet? Sounds like there's not configured robot output for this "robot ready" signal.

Sounds like encoder offset values would be still wrong. You need to enter correct encoder offset values after formatting system memory. Check that entered values matches with the encoder offset data sheet which should be found inside the controller.

If the encoder offset data is wrong you'll get big error value when completing tool calibration.

When the encoder offset data and also TCP have been set up correctly you should be able to rotate tool tip around a fixed point by RX, RY and RZ buttons having tool coordinates and right tool number selected. Tool tip shouldn't move more than about 1-2 mm if everything has been done correctly.

What is your accuracy if you rotate tool center point around a fixed point how (diameter of sphere within the TCP moves)?

Did you enter tool values manually or complete TCP calibration? If you made the calibration how big was the biggest error in recorded points?

How about old existing programs. Is there positioning error in the recorded points?

Thank you guys

I did some testing and it looks like $CONF_MESS isn't working in AUT mode.

I wired push button to digital input 501 and light to out 501 and configured signals in steu/mada/$machine.dat.

SIGNAL $STOPMESS $OUT[501]
SIGNAL $CONF_MESS $IN[501]

I wasn't able to reset any message with this button. Light is on all the time (why?). Based on I/O and variable monitoring $CONF_MESS mapping is OK.

My conclusion is that in AUT (not ext) there is allways need confirm e-stop message with smartpad?

My goal was to have external push button in start box where it could be possible to acknowledge e-stop. Anyway there's need to put servos on with smartpad.

I'll not use AUT EXT in this project.

Does this $CONF_MESS work in AUT mode? Is it allways required to use smartpad to confirm acknowledge message when safety gate open or external or local e-stop occurs?

Did you input proper encoder offset values?

How did you do the setup after formatting, did you restore backup? If yes, then encoder offset values should be ok.

If the robot memory is formatted there won't be need to zero robot axes.

I'm studying how to design safety circuit and connections in X11 connector when having door, light curtain and external e-stop. There willl be also external programmable safety relay.

Should I connect light curtains via safety relay to external e-stop or to safety gate pins?
If connecting to external e-stop and acknowledging e-stop by resetting safety relay is it also needed to confirm e-stop message with smartpad?
Or is it simplier to use safety gate and acknowledge for that?

Other question is how to wire internal 24 VDC to external devices via X11? One drawing showed that pins 101 (24V) and 102 (0V) was used. How about using looped back pins 105-108?

Electrician will implement this task but I need to know some basic thing about KRC4 safety circuit.

Received. Thanks a lot

Best choice would be formatting system flash and restoring original backup taken after robot delivery. If you don't have any old fresh backups then it's a lot harder to get clear system.

Hard way is to check and write up all the required data like machine constants, installation data, signal configuration, tool parameters and so on. After this format system flash, reconfigure system and manually input required settings.

What ever you do remember to take backup from the current state. Then you can restore system back to working state if something goes wrong...