Posts by robot-cnc

KukaPMService.exe was missing, therefore I restored a hard drive clone and problem was solved, the error message is not there anymore.

is known that....something else

Hi

I have the only error "no communication to power management service kss14004 "

The system is KSS 8.3.18, and red led 5 is ligthen.

The Shutdown page from HMI menu is not active, therefore is not possible to set Cold Restart or Hibernate.

There is any way to reactivate it?

I read what was posted here on this subject and I even replaced USB cable from CCU to PC slot KONI, I changed slot, here with cable and plug in seems ok.

When turn off the KRC4 , it takes few minutes, more than usual saving until stop.

When minimize HMI to see windows interface, neither here shutdown is visible.

I am thinking could be any Windows corrupted file and should I reinstall a hard drive copy.

Have you any other suggestion?

Thank you.

I think I solved the error cause. I replaced motherboard 3V BIOS battery. In Bios data setting wasn't kept saved on 2023 , it was returning at 2000 default data. After battery replacing seems to keep saved actual data and is ok, no single bit ECC error appears while starting.

Old battery had only 1.5 V, ...discharged !

You mean RAID controller?

I read that should replace RAID card.

Hi !

Does anyone experienced this error when controller PC KRC2 , KSS 5.6.6, boot or when turn from hibernation? If press F1 resume, computer start and normal open. Nothing wrong after opening, normally run.

I replaced RAM memory, but still get this message. What else could be?

Thank you !

Thank you both !

The customer were pressing deadman too hard, I told that but not being near him was dificult to see how he does it, even I mentioned him for a gentle pushing. Finally he checked the manual and understood how to press.

Therefore, no real problem .

Hello!

I face with a situation on a Kuka KR150-2 KRC2, KSS 5.6.6. When try to jog in manual mode T1, at first deadman switch press Interpreter I become green and allow to jog the robot axis, but when next one trial interpreter icon remain red I, and robot cannot be moved, even driver relay is heard that been activated. That happen when using white long deadmans, if is used the white button the interpreter is activated and axis can be jogged.

It could be a matter of KCP hardware or is a software error somewhere?

The error message is Drives contactor off, intermediate circuit loaded , code 200.

Thank you !

Hi

I wish to know if is normal Kula robot arm to have some shaking when moving on a short toolpath code line C_DIS, milling a curved shape, if feed rate is more than 3000mm/min.

I think is from need to brake at each end and start on short curved toolpath.

Except low feedrate, what else could make movement smooth?

Is a krc4 kss 8.3.19.

Thanks

Thank you all !

Variant that works is one from attached photo.

Is fine, speed spindle got it from program.

Quote from DannyDJ

Did you measure with meter the actual voltage on EK1100-EL4004 on it's output, when you change the variable for the speed?

yes, and is zero V.

Beckhoff EL4004 is new and is ok.

This is why I thought is a matter of syntax program that do not match and not sending to EL4004, right voltage in range 0-10V.

Hi Skyfire,

and what about first two opinions above?

I cannot understand how worked for DannyDJ.

The matter is RPM is variable, so allocation value 0%-100% should happen function of programmed RPM, therefore a math formula is a must, but PanicMode sugestion is contrary:

$ANOUT[1]=SET_RPMs/MAX_RPMs or must add also

$ANOUT[1]=1, meaning both code lines ?

Hi !

I am trying to transform a spindle speed RPM as an analog output from Kuka program to a Beckhoff Ethercat module EK1100-EL4004 ( 0-10V, 12 bit) to manage analogical command on spindle inverter, according with RPM speed inserted in program with a voltage between 0-10V. Kuka system is KSS 8.3.18.

I have fallowing syntax, one, two three.jpg , I tried one with two combination but didn't work, spindle try to rotate but do not run properly. Then I read that $ANOUT[1]= cannot be a math formula, just -1 to 1, which means probably -100%...0%....100% scale, so $ANOUT[1]=1 maybe the correct synatx???

Can you confirm me that?

Or maybe there is another syntax variant:

$ANOUT[1]=VOLTAGE, WHERE VOLTAGE IS CALCULATED AS IN spindle_on()

$ANOUT[1]=1

I would appreciate your help !

Thank you

HDS ROBOTICS, I will send you on email when reach in front of PC.

What is mechanical role of these parts on A2 gearbox? They are three on 120 deg. mounted and it seems that assure sealing ring on gearbox.

They are used to adjust also its position depending on use age?

Code that works :

DEF NONAME1()

GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )

INTERRUPT ON 3

INTERRUPT DECL 10 WHEN $IN[6]==TRUE DO STOP_MOVE()

$APO.CDIS = 0.5000

BAS (#INITMOV,0)

BAS (#VEL_PTP,20)

BAS (#ACC_PTP,20)

$BASE=BASE_DATA[1]

;$BASE={X 2000, Y 0, Z 1200, A 90, B 0, C 0}

$TOOL=TOOL_DATA[1]

;$TOOL={X 503.173, Y 1.337, Z 101.069, A 0, B 90, C 0}

$OUT[1]=TRUE

$OUT[3]=TRUE

WAIT FOR $IN[6]==FALSE

$advance=3

$VEL.CP=0.167

INTERRUPT ON 10

PTP {A1 0.000, A2 -90.000, A3 90.000, A4 0.000, A5 0.000, A6 0.000, E1 0, E2 0, E3 0, E4 0, E5 0, E6 0}

PTP {A1 3.745, A2 -90.330, A3 101.473, A4 -113.300, A5 26.474, A6 115.693, E1 0, E2 0, E3 0, E4 0, E5 0, E6 0}

LIN {X 0, Y 0, Z 10, A 110.424, B 0, C 180} C_DIS

LIN {X 0, Y 0, Z 0, A 110.424, B 0, C 180} C_DIS

LIN {X 731, Y 0, Z 0, A 130.502, B 0, C 180} C_DIS

LIN {X 731, Y 243, Z 0, A 133.014, B 0, C 180} C_DIS

LIN {X 0, Y 243, Z 0, A 110.424, B 0, C 180} C_DIS

LIN {X 0, Y 0, Z 0, A 110.424, B 0, C 180} C_DIS

LIN {X 0, Y 0, Z 10, A 110.424, B 0, C 180} C_DIS

PTP {A1 0.000, A2 -90.000, A3 90.000, A4 0.000, A5 0.000, A6 0.000, E1 0, E2 0, E3 0, E4 0, E5 0, E6 0}

$OUT[1]=FALSE

$OUT[3]=FALSE

INTERRUPT OFF 10

END

DEF STOP_MOVE()

INTERRUPT OFF 10

BRAKE

WAIT FOR $IN[6]==FALSE

WAIT SEC 3

INTERRUPT ON 10

END

Thank you all !

Like that. What about red instructions from main program , remain there .

DEF NONAME1()

GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )

INTERRUPT ON 3

INTERRUPT DECL 10 WHEN $IN[6]==TRUE DO STOP_MOVE()

INTERRUPT ON 10

.........................................

INTERRUPT OFF 10

END

DEF STOP_MOVE()

INTERRUPT OFF 10 ; deactivate interrupt

BRAKE

WAIT FOR $IN[6]==FALSE

WAIT SEC 0.2

INTERRUPT ON 10 ; reactivate interrupt

END

Quote from hermann

One more thing always should be done:

switch off the interrupt when entering interrupt service routine, and switch on just before leaving it.

Just when using Global Interrupt with outside subroutine from main program or even when using Interrupt simple declared with subroutine in main program, as above?

Quote from panic mode

yes, that is what code without RESUME would look like. and that should do the trick except on start. because on start first transition is non-existent(your interrupt is looking for TRUE on input 6 and that is already TRUE). so you need to work around that initial case. for example add command

WAIT FOR $IN[6]==FALSE

just after interrupt on...

that will make robot wait first time.... and after that interrupt will take care of it.

Thank you Panic, will try that.

You mean for pause and continue such a variant:

DEF NONAME1()

GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )

INTERRUPT ON 3

INTERRUPT DECL 10 WHEN $IN[6]==TRUE DO STOP_MOVE()

INTERRUPT ON 10

.........................................

INTERRUPT OFF 10

END

DEF STOP_MOVE()

BRAKE

WAIT FOR $IN[6]==FALSE

WAIT SEC 0.2

END

And this interrupt of program (pause) will occur at any moment while all program running ?

Would make sense to think on IF conditionality to introduce instead in sps.sub?

PLC loop section for ex.

I am thinking that postprocessor that write my src files should be setted to automatically write in each src file, usually being many. So, is excluded to manually do all these instructions .