Posts by DannyDJ

Quote from Robotmei

$ET1_TA1KR={X 0.0,Y 0.0,Z 450.0,A 0.0,B 0.0,C -90.0}
$ET1_TA2A1={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
$ET1_TA3A2={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
$ET1_TFLA3={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 90.0}
$ET1_TPINFL={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}

This are not all the settings for the linear unit posted.

Can you also post what settings you have for $EX_KIN and $ET1_AX:

For example:

DECL EX_KIN $EX_KIN={ET1 #ERSYS,ET2 #NONE,ET3 #NONE,ET4 #NONE,ET5 #NONE,ET6 #NONE} ;EXTERNE KINEMATIKEN #NONE,#EASYS,#EBSYS,#ECSYS,#EDSYS,#EESYS,#EFSYS,#ERSYS
DECL ET_AX $ET1_AX={TR_A1 #E1,TR_A2 #NONE,TR_A3 #NONE} ;EXTERNE ACHSEN #NONE, #E1, #E2, #E3, #E4, #E5, #E6
CHAR $ET1_NAME[20] ;NAME DER TRANSFORMATION ET1 MAXIMAL 20 ZEICHEN
$ET1_NAME[]="KL1500K_1"

Quote from lortiz

i meant in KRC4, in KRC5 i cannot physically disconnect the boards. if i remove any of them from the workvisual project, i get a warning of slave not found or something similar. i attached a screenshot of the current bus structure

kuka support came back saying that they have to bring someone to open up and remove the board themselves... which i find very bizarre.. i'll update you if you are interested on how this ended up solving, but it won't be before christmas holidays end

You have SafeOperation cards installed in the controller? IFB-ext are SafeOperation cards so, you must also make jumpers on them, until they are correctly wired.

One can also use ethernet port on KCP in order to avoid floppies or on MFC1 card and share folder on d drive and use laptop directly with controller for copying.

You can also try while waiting and install everything from scratch on new disk, you have everything you need on the D partition of working HDD(WIN95, instructions in INSTALL DOC folder, shared memory driver,...)

Also in the install manual you have BIOS setting chapter, maybe it can provide some more clues

Quote from BurtGummer

If I reset the CMOS by removing the battery 5 seconds or set the jumper to CMOS reset (If present on that motherboard) would I risk bricking it as it still boots with the original hdd for the moment?

I have no idea to which bios settings it would reset the motherboard and as it's not a common PC I don't want to mess anything up

It shouldn't brick nothing by removing CMOS battery, only CMOS settings are reset and you will also have to turn on motherboard by shorting PWR_ON jumper, because KUKA settings in BIOS got reset, so I would wait for the AT adapter or keyboard.

When I'll be back in the office will try to boot my image with KSS 4.1.7 SP08 KRC1, I have still somewhere old SOYO-7IZB KRC1 motherboard laying around.

KRC1 uses AT keyboard and yes you can get to BIOS with AT keyboard easily. Did you correctly cloned the disk? Did you also correctly set the jumpers on the disk and CD rom according to the positions on the IDE cable. *I see you already tried that.

Usually I didn't have problems when cloning HDD's as long as the cloning software correctly cloned MBR(Master Boot Record which acts as a loader for installed OS).

Hello, try with system variable $ASYNC_AXIS = 'B000001'(asynchronous mode) to switch between both 'B000000'(synchronous mode) and $ASYNC_STATE to check the state.

Axis must not be permanently set to asyhronous mode with &EX_AX_ASYNC in order to use above system variable.

Quote from hossein fallah

Someone else was working on this robot and he replaced the cable I guess

When someone is messing around inside the controller and rewiring things without electric shematic, that is the first thing what should be checked.

How did you check? Did you replaced it? Also did you tried to use X11 bridge plug?

In the attachment you have explanation of the red LED on KPS = internal ESC error

As the message "safety circuit not ready, ..." is displayed did you check the ESC- electronic safety card inside the robot controller?

Hello, in the attachment is a schematic for the bottom fan over temperature rise. Did you tried and measured the voltage on the KSP X110 connector pin8(DIN_SPS_FAN2_OK) according to el. schematic? From schematic +24V goes from FAN+ over F3 to the fans FE2 temp sensor and back to X110 pin8. I guess the fan is spinning ok.

Also maybe you could and put +24V also on the X110 connector pin8(DIN_SPS_FAN2_OK) to see if error goes away.

Maybe there is some loose connection on the F3 circuit breaker or X2(pin24 and pin 25) or XE2 connector (pin5 or pin6). Looking to the el. schematic nothing special is there more to check and you have checked your components on the other robot and they work fine.

Quote from machens

In my project, the robot needs to track a moving object. The speed of the moving object changes, but its trajectory is fixed.

Like Panic mode said, that is job for ConveyorTech and it does a quite good job. You just need to mount the encoder on the conveyor or you can use resolver part of the KUKA motor, add synchronzation sensor(new versions can even work on multiple conveyors at the same time) and no problem with speed.

Hello, maybe you could also try and replace the swolen capacitors on the motherboard? In the past I have repaired some of the motherboards just by replacing the swolen ones and the motherboard work again.

For 8 axis you don't need extra RDC card and DSE-IBS AUX, there are 2 slots free on the robot's RDC to connect motor encoders for external axes.

I only needed top cabinet, extra RDC and DSE-IBS-AUX when I have more than 8 axes.

Which KSD-s you have for to 2 external axes?

There should be space to put for example 2 x KSD-32, only bigger KSD's takes, for example KSD64 and KSD48 more than single slot in the controller.

Quote from jpherbute

Hi guys

I was asked to add two external axis (1 linear track and 1 motor added to the tool) on a KUKA KRC2ed05 robot, which doesn’t usually cause me an issue. The thing is that the cabinet has no more than one slot unused to add a servo drive.

Knowing that, I was given a (almost complete) top cabinet, including 1 KPS, 2 KSDs, 1 RDC.

I already wired the two additional motors’ encoders to the second RDC, the motors´ power the the drives, added the SBM on the drives.

I know how to configure the external drives from the KRCConfigurator, but the question is : how to wire up the top cabinet in order to make it communicate and safe with the main cabinet ?

Thanks for your help.

How many axes do you have all together? If you have more than 8, you will also need extra DSE Card called DSE-IBSC33 AUX which connects in between MFC and the original DSE Card.

On this DSE AUX card connects this second RDC card through additional DATA - DSE XA21 connector in the main cabinet.

Did you tried to short PWR_ON jumpers on the motherboard? When CMOS battery is dead, the BIOS settings are set to default and the motherboard does not turn on it's own when you turn on power switch on the cabinet. One has to force it by shorting PWR_ON jumpers, then go to BIOS and choose KUKA settings afterwards.

Hello,I would check also the servo parameters, I guess they weren't correctly optimized, by tweaking the VelGain, PosGain and VelIntTime parameters and by using osciloscope in WV one can minimize following error and optimize servo control parameters.

There is also manual for external kinematics systems where the procedure how to optimize servo control parameters is described.

I would check the gripper, make marks on the gripper to see if something on the gripper changes also, I had bigger robots with bigger tools and the robot was ok.

Usually when I observed the programmed points shifting was due to mechanical issues eihter on the gripper or something else in the cell moved or wasnt bolted to the ground, etc...

Quote from javaman

I have used esc-ci instead esc-ci3 to krc2ed05

with some jumpers and works.

What are the differences between esc-ci extended (that has all components populated to pcb) vs standard(no esc node)?

I think that difference is if you wanted to put robots into RoboTeam, you needed other one, and for safe operation for connecting safeRDW...