It's rotating the A6 while moving. if it doesn't rotate A6 on the same lenght of the path, it is faster for about 3 seconds.
Posts by DannyDJ
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I have one problem on KRC 2 with the L150 extention. I would like to save some cycle time. The robot picks some object in 2 diferent ways(one time rotating only axis 6 while moving to drop position) and one time without rotating axis 6. If robot rotates the object 180 degrees(axis 6) the robot is almost 3 seconds slower if not rotating the object. the diference is only the ptp where it rotates , everything else is at maximum(speeds, accel).
Would it be maybe better if i split rotating 180 PTP to two 90 degrees PTP motions or i increase the $VEL_AXIS_MA[6] in the machine.dat cause it is really annoying that axis 6 slows down the robot so much.
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Thanks for clearing that for me
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Thanks for the help, i wasn't sure that AGILUS had RDW3 card also. But what about the servo drives, isn't there in KRC4 compact room for only 6 axes? How do you add aditional servo drive for 7th axis or it comes KRC4 compact preconfigured if you order it like that?
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Hello, is it possible to add to AGILUS robot the 7th axis?
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Hi, does anyone knows which port WorkVisual or Virtual Pendant is using when connecting to robot over KLI?
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The robot will be placed the same as old one, the bases are defined but not evaluated(empty bases), i just expect the points to be somewhere near and not very far off, if everything is placed as it was.
Machine data not a problem to change. -
Yes the old robot was mastered with EMT and tool is also in position to that zero pin on the flange. The robot KR150 will be replaced with KR240-2 2000 series.
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Hello. I have application where the current robot will be replaced with the bigger one (more payload). But gripper and the points and everything else inside the cell will stay the same.
Now i would like to know if i will have to retouch up everything or it is possible that the program made on replaced robot will be OK.
Thanks
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I had a lot of problems with external axis with this 8.2.22 version just with configuration of external axis, the menu external axis doesn't work ok. But i had 5-axis palletizing robot and think that was the main problem.
and in 8.3.5 version i couldn't even do external axis config where is easy to do it but the robot did't want to accept, stil i had palletizing robot. There are still a lot of bugs in KRC4 software that need to be fixed. -
There is already Workvisual 3.0.7 out, maybe you should use the latest version
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for krc4's you have kuka virtual pendant (you can also move the robot from pc)
on krc 1 and 2 install vnc on it -
or you can clone the robot harddisk to another or make an image of robot disk on your pc and in case of problems restore it back. then you don't need the kuka USB
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Then you should definitily get the KRC2;). Just check what version of the KSS software is installed. You can get on KRC2 WIN95 with v4.1.7 SP08 latest or Windows XPe with KSS v5.x. Xpe are more stable and you can there use USB to make backup robot archives insted of using floopy. On both you can activate ethernet on the MFC cards (don't need to installed any additional cards for ethernet communications) and ask him if he has safety override service plug so that you can imidiatly start working with the robot.
I've attached you the KRC2 BMW option interfaces. -
VKRC2 has a different safety connections so also safety hardware isn't the same as in KRC2. Also KUKA Control Pendant is little different. The KSD Servos are the same in both, control PC's also. Same differences goes for KRC1 and VKRC1 i think KRC1 (has PM-600 module inside).
For control software i'm not sure to tell you is it possible to install on VW the standard KUKA KSS.
For control software if it's installed usual way you always have a copy of KSS on D disk on the robot in KRC1_CD folder with WIN95 also.
If you mean for upgrading the current software for KRC1 the latest is v4.1.7 SP08. For VW KRC1 i think it's v3.3.3 that you can also check, maybe you will have the latest option installed already.
Anything more in detailed, Skyfire will tell you, cause i had only one time chance to realy work with VW(and in VW factory imidiately). But i have some manuals for VKRC1 if you will needed.
In the end i would choose KRC1 over VKRC2, better support if i came across any problem and also you'll find more hardware spare parts.
Like you said bunch of KRC1's and only one VKRC2.The biggest issues i had with KRC1 that they like to lose mastering points. But i have also came accross used KRC1 that didn't lose mastering from the first day they were put inside of the cell so it's really down to in what conditions the robot have been working and the maintance that was done to the robot and controller.
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From my experience i would ratter use standard KUKA not VW version. In VW you also have to make programs different then in standard KUKA(standard KUKA is more open). I have to did this once and i hope i don't have to anymore :). For example just to log on as an Expert i had to use some kind of User licence CD in CDrom for me to allowing to work on the robot as an Expert.
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Does anyone have some manual for Soft servo on KRC4. I found some little info in system variables about SET_TORQUE_LIMITS().
Are the variables from KRC2 $CURR_RED[] and $TORQUE_AXIS and $TORQ_VEL all in SET_TORQUE_LIMITS()?
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This were erros that generated when i activated the project. But i have fixed the problem. The problem was that WorkVisual stubbornly generates CFCoreWaggonDriverConfig.xml in RDC3.xml section to read E1 positions from 7 or 8 channel on RDW3 regardless what axis ID you put in for E1. From KRC2 E1 setups i know that i couldn't leave any space beetween channels on RDW2. If you had 4-axis robot, for E1 you had to connect rdw cable to 5 channel, not to 7 or 8(and also you have to define #PMCHANNELS and #DSECHANNELS in odd way because 4-axis robot)
In this case because the robot came directly from KUKA and E1 was already connected on channel 6 because it is a 5-axis palletizing robot(if you are comparing to RDW2 it's OK), so it mislead me. When i connected E1 rdw cable to channel 7 because i observed what WorkVisual generates in CFCoreWaggonDriverConfig.xml in RDC3.xml section then i just gave it what WorkVisual wanted to have(also i had to use Axis ID parameter 7 for E1 not 6).
I'm using the new WorkVisual v3.0.6
and KRC v8.2.22 installed on the robot.Now i'm off to optimizing the E1.
I also have to tell you if i try to optimize E1 on robot side from External Axes(not from WOV) the robot coruppts the KRCAxes.xml and NextGenDriveTech.xml in folder C:\KRC\Roboter\Config\User\Common\Mada.
Everytime i change some parameter under the EXTERNAL AXES menu on the robot, the files KRCAxes.xml and NextGenDriveTech.xml in folder C:\KRC\Roboter\Config\User\Common\Mada gets corrupted and the I get like 10 errors. Changing the parameters from that menu puts twice the lines(duplicates the AXIS 7 ID's in those files, again i think it's due to i'm using 5-axis robot)<Axis ID="7" Mode="StandAlone">
<StandAlone Name="E1" /> </Axis> inside KRCAxes.xml and
<Axis ID="7" SupplyChannel="1" ConfigFile="Mada/NGAxis/E1.xml" /> in NextGenDriveTech.xml
Then i have to go back in the files manually erasing the sufficient lines in those files and viola robot works again. I think it's due to a fact that it's 5-axis robot.
I spent the hole week on this matter. -
The errors are in the screenshot. The groudings are OK. I think this is related to wrongly configured CFCore.xml and CFCoreWaggonDriverConfig.xml from WorkVisual because i have a palletizing robot with 5-axis and WorkVisual doesn't generate correct files for my setup.