Posts by DannyDJ

Here is just sample code, it's not complete solution, but it should give rough idea, here is Z axis of the BASE is aligned with the center spiral AXIS or E1, and changing point values in Z you move along the spiral, and for each revolution new Z values are calculated for one spiral.

In order to use ArcTech functions on calculated points in my project, I have copied the ArcTech functions of ordinary ArcTech inline form in front of calculated points

;LIN start_weld_point 

FOR NR_spirals=1 TO 11

   CALC()

   $ORI_TYPE=#CONSTANT
   $CIRC_TYPE=#PATH
   FOR J=0 TO (6/2-1)
         
         BAS(#TOOL,1)
         BAS(#BASE,17) ; base attached to coupled E1

         $VEL.CP=WELD_SPEED
         $APO.CDIS=1.0

     CIRC C_POS[(2*J)+1],C_POS[(2*J)+2] C_DIS
   ENDFOR

ENDFOR


DEF CALC()

DEG = 60.0
DISTANCE = 12.0  ; lenght of one spiral in Z direction

FOR I=1 TO 6

  ; calculation of points of single spiral

  C_POS[I].X=cos(DEG*I)*spiral_radius
  C_POS[I].Y=sin(DEG*I)*spiral_radius

  C_POS[I].Z=POZ_Z+((DISTANCE/6.0)*I)+(DISTANCE*(NR_spirals-1))

  C_POS[I].A=(-90-(DEG*I))
  C_POS[I].B=0.0
  C_POS[I].C=-90.0
  C_POS[I].E1=DEG*I

ENDFOR

END

Quote from Andres Tamla

I will try to add more CIRC switches to see if it helps. The main goal is to keep to a minimum number of touch-ups.

The last time when I did spiral continuing welds on endless axis, I had 6 points at 60 degrees, but first start point was for example at 10 degrees (so that i would get 70,130,190,...370,430,etc) and just before the CIRC points in the program, i have had to use $ORI_TYPE=#CONSTANT and $CIRC_TYPE=#PATH in order to remain robot "stationary" and only external axis would be turning during welding. But in my program i have calculated points infront and for each turn new 6 points because robot moves along the spiral center axis.

Hello, usually if you wish to do endless rotations with external axes, you have to setup the $AXIS_TYPE parameter to ENDLESS in workvisual.

But BEWARE you also have to check can this KUKA positioner on AXIS 2 do ENDLESS rotations in order that you dont BRAKE any cables by twisting them. According to the datasheet for your positioner you can't do endless motions, but either only +-1800 or +-185 depends if energy supply system is used or not.

In datasheet KP2-SV2600HW is stated that axis 2 motion range is +-1800 degrees without energy supply system, then you must leave parameter to ROTATORY if you didn't make any hardware modifications on axis 2 which would allow to do endless motions.

If energy supply system is used axis 2 can only do +-185 and you can't do more than 1 turn or 370 degrees.

If you have axis without energy supply system according to datasheet, then you can do only max 10 turns according to datasheet(2*1800/360=10) and looking to your picture of the part you want to weld i guess it would be enough to have 10 turns, In that case i would check the software limit switch parameters if they are set to more than +360 in positive direction and less then -360 in negative direction , but change parameters only when you are sure what positioner you have according to datasheet(with or without energy supply system) in order not to brake any cables which may go inside of axis center by twisting them by going beyond 360 degrees.

Hello, they are mapped or predefined already in PROFISAFE, look at the manual for PROFINET or SafeOperation, chapter SafeOperation via PROFIsafe, input byte 4 and byte 5 are used for activating monitoring spaces, total of 16 monitoring can be defined and controlled. Also you have to have SafeOperation installed on the robot, etc...

Hello, you can also use C3 Bridge.exe for this instead of KUKA.Ethernet KRL. Its faster also than KUKAVarproxy, you have sample videos, etc...

Thread

C3 Bridge Interface Server

Greetings everyone.
I'd like you to meet the project that I've been working on for the last six months.
It's called the C3 Bridge Interface.
robot-forum.com/attachment/27492/
The C3 Bridge Interface Server is a lightweight network application that allows remote clients to execute requests to the KUKA Cross 3 subsystem and return responses. The application provides advanced functionality and high performance.

Some distinctive features

• Well-documented application protocol. It is fully compatible with

…

VDm

Aug 21st 2020

Hello, in the attachment are the pictures from the ESC_Card manual.

Variants of the ESC boards:

CI3 Standard - ESC board without node

CI3 Extended - ESC board with node

CI3 Bus - ESC board for connection to SafetyBus Gateway

CI3 Tech - ESC board for RoboTeam, shared

pendant, SafeRobot

Hello, check this post about resetting the external axis to zero:

Post

RE: Endless motion for KUKA external axes

hey guys i found out that reseting to zero with coupling/decoupling works only in endless mode.
and i was wondering if the code below would work for external axis 4 or E4, i am not at the testing site so,

$AXIS_TYPE[10]=1
$AXIS_TYPE[10]=5
$async_ex_ax_decouple = 'B01000'
wait for ($async_ex_ax_decouple=='B01000')
$AXIS_ACT.E4=0 ;set actual position is 0
$async_ex_ax_decouple = 'B00000'
wait for ($async_ex_ax_decouple=='B00000')
$AXIS_TYPE[10]=1
code seems to be logical but since i have not tested it i…

capital9

Feb 12th 2022

Quote from bakerhesseldenz

So now the problem is ... the KCP seems to be frozen. None of the buttons work. If I turn the operation mode switch from T1 to T2 the screen does not change ... still says T1. If I press the configure button to select the user group, nothing happens.

Hi for this issue, try and exchange the MFC card in the PC controller, you can leave DSE card but need to exchange bottom card MFC. Last week i had the same issue and exchanging the bottom MFC card resolved the error with buttons on the KCP.

Hello, it should work OK.

Hi, I'm glad you managed to get it to work, yes like you said the first signal is Hearbeat,I've have repaired the link, but i see you also managed to find the correct manual, you just do IO mapping of all the signals from the chosen signal Image in the driver. Then from Fronius manual you can name the signals on the KRC side, and do the Arctech configuration for the chosen work mode. The easiest is to work in JOB mode, where weld parameters are easily set on the Fronius and robot just sends the JOB number. You can also work in mode where robot is setting the welding parameters if needed, but i prefer always the JOB mode, so that weld parameter settings are moved away from the robot to the Fronius power source.

Also in new Arctech versions you can use production display, which can be used to display the web interface from the Fronius on KUKA HMI and you can setup,adjust weld parameters also like doing on the Fronius directly.

Quote from postek

1. Okay, I've found the place to choose the module, but have no idea which one to choose of the three (Retrofit, Standard or Economy). How do I find out?

Which one do you prefer, each signal image is described in Fronius TPSi Robot interface manual, i usually use Standard which offers all signals range, for example Economy only uses the small portion of signals which Fronius can provide. In Fronius TPSi robot interface manual you can find information about every signal available from Fronius welding machine.

Also you do not need to change anything in the address range, because some signal are bool and some for example are byte or even word(if you want to read welding current or wire speed or byte for example for reading curently set job)

Signals have to be mapped in the io mapping window or none of the signals work outputs/inputs.

You can just put in google search TPSIfronius tpsi manual or Fronius PROFINET RI MOD/i CC-M40 ProfiNet module

Link for signal manual

Busmodule RI MOD/i CC-M40 ProfiNet

Then you just map all io signals for the image which you choose and will correspond to the signals in the manual

Link for detailed signal description

https://www.google.com/url?sa=t&source=web&rct=j&opi=89978449&url=https://www.fronius.com/~/downloads/Perfect%2520Welding/Operating%2520Instructions/42,0426,0114,EN.pdf&ved=2ahUKEwi23aPAwZGBAxXp_7sIHQE4DQ0QFnoECAcQAQ&usg=AOvVaw23S79zZr9t2ODUjn8Bf0Ry

Quote from postek

Has anyone configured and use a fronius power source with KUKA via PROFINET?

Hello, yes i did many times, it is more or less straightforward to do but in my case on KRC4's. but it should be the same on KRC5. Only if KUKA have again some bug in the ArcTech package for KRC5 and KSS8.7.

You have to set correct IP and name the device on the fronius PROFINET RI MOD/i CC-M40 ProfiNet module. I usually do from workvisual by using device list and names option. Then you have to choose right communication Image(Retrofit,Standard or Economy) in the Modules window of the Profinet Fronius driver and do proper IO mapping for that image and KUKA.

Also did you add correct power source to the project from the ArcTech basis package and configured the IO options under Arctech package, but if you manually trigger the signals should also work, also try Acknowledge power source signal if you are force triggering signals.

Quote from sloopkogel

Thanks for your reply, tried this too without success.

I did find 2 more (unresolved) similar topics:

Thread

KRC2 - Arc tech weave with a welding positioner

Hi,

I am using a KRC2 ED5, Kuka KR16 welding robot to weld flanges onto pipes.
The pipe is mounted on a rotary table , driven with a kuka sevro motor configured as a 7th axis.
The arc tech software will happily weld in a mechanical weave pattern whilst the welding torch is moving between two positions , but in this application the 7th axis rotates the pipe and the welding torch stays in one fixed position.

My question is how to enable the weave patterns in the direction of the rotating weld seam…

Pump Parts

Mar 15th 2021

Thread

Disabling robot movement check during active welding

Dear friends,

Is there a system variable or another solution in KUKA KR C4, that allows you to disable the motion check when welding is active?

I whant to do arc welding using a ArcTech Baisc package without moving the robot (KR 30 R2100; KR C4 KSS 8.6.8), but use an external axis (another vender) to rotate the workpiece.

I chekted:
- System Variables For KUKA
- ArcTech Basic 3.3.

I didn't find a suitable variable.

For example, Fanuc has $AWSEMGOFF.$NOFLTR_OFF - Active Weld Motion Check (ARC-054 No…

filonovsy92

Jul 1st 2022

I contacted Kuka and they're not sure if it's possible to rotate the pipe and have the robot stay still using ArcTech. I'm starting to doubt whether this is at all posible, I could of course write a program from scratch to read / set the IO of the welder, make the weaving pattern, do the seamtracking etc... but I was hoping I could use ArcTech for this. I would love to hear from someone who has actually done or even seen this before, just to confirm it can actually be done.

I also found a video but no idea if they use ArcTech, maybe they also wrote their own program:

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Hi, I have done project in the past i think it's now already 8 years and the system still works on KRC2 with external axis for welding wheels where robot is stationary and E1 turns but in my project E1 axis is part of the robot and synchronized with the robot. And i'm also using old ArcTech for welding but i'm not using weaving but robot moves during welding from left to right for each completed weld circle. So i don't see a reason why weaving also couldn't work. I'm very suprised that KUKA said they are not sure if it is possible.

You can also use just subprograms of the ArcTech(open the inline form of the Arctech to see which subprogram gets called for example for ArcOn command) but for point manipulation use your own code. That is how i also did. And i think i had to setup up the system variables $ORI_TYPE and $CIRC_TYPE=#ON_PATH because robot wanted always to follow the rotating E1 axis.

Hi, one option you can also look if you maybe have inside your current KPC already the DSE C33 Card, but still you need WinXPe and KSS5.x from KUKA and at least 256RAM for WinXPe requirement, also you can look inside the PC if you can see some capacitors swollen on the motherboard. I have repaired good number of old motherboards from KRC1 and KRC2, just by replacing the bad capacitors on the motherboard.

KRC4 upgrade usually means everything needs to be exchanged, even the robot needs to be exchanged.

Hi, in the attached picture from motherboard manual location of the PWRBT jumpers.

Quote from bakerhesseldenz

Is there a secret to uploading photos? The drag and drop thing is not working .

Which motherboard is inside PC? Or you have maybe a sticker on the PC which says KRC2ed05 or just KRC2? On KRC2 i think it is PWR_ON sign or something like that, and when you short 2 jumpers it should turn on the PC.

Hi, KUKA.Ethernet KRL is a paid option and is not available by default, at KUKA every tech package is paid option, even for example PROFINET driver.

But if you buy used KUKA, you can get packages which were bought by previous owner, and you can look at stickers inside of cabinet also to see which packages were bought with cabinet.

Yes you can use EtherCat RS485 and coupler EK1100, i have done it for example to communicate with RobotiQ gripper directly, Ethercat is the only communication available by default on KRC4.

Hello, I would like to know does the KSS 8.3 stores the 4 known points need for Indirect Base Calibration to some file in the archive or on the robot itself. I can find the file Measurement.Points.cfg in USER folder with data of calibration points, but can't find data of the entered 4 known points.

For example on KSS8.6 you have both data available in file MeasurementPoints.xml under ComplementaryData tab, but can't find it on KSS 8.3.

Thanks.

Quote from guimarch96

Hello everyone, my first post on this forum.

I have a KR16-2 robot with a KRC2-ED05 control cabinet and KSS 5.6.9.

On axis 2 of the robot, I have installed a KSD1-16 drive that has been experiencing failures. I have a KSD1-48 drive in stock and I would like to know if it is possible to install the larger drive (KSD1-48) in place of the smaller one (KSD1-16), and what would be the procedure.

Thank you for your attention.

Hello, it is possible to use, but you have to adapt the $machine.dat in Mada folder, i think parameter $SERVOFILE2[]="KSD_48_..." and $CURR_MAX[2]. You have different servo files. The best would be to use the same type for example if original servofile is "KSD_16_MH_S7" to use for example "KSD_48_MH_S7". You can also compare the values inside servo files.

Quote from panic mode

true but that will completely prevent robot from moving (both jogging and executing programs).

Agreed, better to set $OV_JOG to zero in sps when in $T1 or even in $T2(if KRC1 controller) if program execution is needed in manual mode.

Still one can cancel or stop sps from executing, if they have curios fingers, which would prevent overiding the $OV_JOG to zero.