Hola, necesito ayuda. Alguien podría enviarme el estándar de Renault para robot kuka? Tengo que hacer un trabajo y quería prepáralo en offline y no consigo que me envíen el estándar.
Posts by oscuriden
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INI;%{PE}
;FOLD BASISTECH INI
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
BAS (#INITMOV,0 )
;ENDFOLD (BASISTECH INI)
;FOLD USER INI
;Make your modifications here
;ENDFOLD (USER INI)
;ENDFOLD (INI)
;FOLD SPTP home CONT Vel=80 % PDAT7 ColDetect[1] ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=home; Kuka.BlendingEnabled=True; Kuka.MoveDataPtpName=PDAT7; Kuka.VelocityPtp=80; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=1; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SPTP
;ENDFOLD
SPTP Xhome WITH $VEL_AXIS[1] = SVEL_JOINT(80.0), $TOOL = STOOL2(Fhome), $BASE = SBASE(Fhome.BASE_NO), $IPO_MODE = SIPO_MODE(Fhome.IPO_FRAME), $LOAD = SLOAD(Fhome.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PPDAT7), $APO = SAPO_PTP(PPDAT7), $GEAR_JERK[1] = SGEAR_JERK(PPDAT7), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(1) C_Spl
;ENDFOLD
TRIGGER WHEN PATH = 0.0 ONSTART DELAY= 0 DO SET_MEM(Mem_PosHome) PRIO=-1
END
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Hola alguien sabria decirme como solucionar este error?
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thanks for your answer,
But how Change the sync option to START or END? I don't undertstand, because I can't change motion PTP to LIN in program.
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Hello guys,
What is this error?
switching action for this type of movement not allowed kss 01365
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what is this in iosys archive?
PFODRV=31,pfoInit,pfoDrv.o
[PFODRV]
INB66 =0,x8
OUTB66 =0,x8
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hello everybody, how to do in T1 you can´tt collision a gripper with robot itself
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Thanks for you anwser,
when I can change the configuration for move in T2?
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the robot shlould not move with the open door
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You can move the robot with E2, the problem is the PLC use a VASS bud the robot is KRC4 not VKRC4
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Hello everybody,
I have a problem, my robot is kuka KRC4, I used Profinet with PLC, when the gate is open, I can move the robot, wich is the problem? -
Hello everybody,
I have a question, is possible send Counter to PLC? I need send a number of counter to PLC -
bud, if T10=-20, alltime F399 is true and after false no?
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Hello, the T10 in bolzen welding, is use for?
A217 = EIN
5: -- Anfrage Schweissfreigabe BZ1 --
6: A218 = EIN
7: WARTE BIS E218
8: A1708 = AUS
9: t10 ( EIN ) = -20[1/10Sek]
10: WARTE BIS !E1721 + T10
11: F399 = T10
12: WARTE BIS !E1721
13: F399 = AUS
14: t10 ( EIN ) = -20[1/10Sek]
15: -- BZ1 Betriebsbereit und Energiesparmodus AUS --
16: WARTE BIS E1697 & E1699 & !E1706 & !E1707 + T10
17: F399 = T10
18: WARTE BIS E1697 & E1699 & !E1706 & !E1707
19: F399 = AUS
20: t10 ( EIN ) = -20[1/10Sek]
21: -- Warte bis BZ1 SK1 rueck --
22: WARTE BIS E1729 + T10
23: F399 = T10
24: WARTE BIS E1729
25: F399 = AUS
26: t10 ( EIN ) = -20[1/10Sek]
27: -- Abfrage mit/ohne Prozess --
28: WARTE BIS !E1698 & !E217 & !F525 + E1698 & (E217 + F525) + T10
29: F399 = T10
30: WARTE BIS !E1698 & !E217 & !F525 + E1698 & (E217 + F525)
31: WARTE BIS E23
32: A23 = EIN
33: F399 = AUS
34: t10 ( EIN ) = -20[1/10Sek]
35: -- Warte bis BZ1 Betriebsbereit -- -
thanks for the answer, but this variable, when is false in robot? when the robot is stop?
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hello everybody, what is this variable $COULD_START_MOTION , which indicates this variable if it is true.
thanks,
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Can´t I change this value in this variable (REAL DEF_ACC_CP) for do the robot more faster?
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Hello, I have a question
When I create a project in the office workvisual
if then charge the robot, the machine data or security settings you have the robot are not changed ?
Sorry for my English -
Hello guys!!! someone has a procedure as configuar profinet with workvisual?