Hello. Does any one knows what does message KSS00066 "Error in axis position from motor driver" . I think this is for E1 cause i'm trying to configure ServoGripper on KRC4 on KR180 R3200 PA robot(this robot has only(5 axis).
Posts by DannyDJ
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I managed to make a RoboTeam project in WorkVisual. Started from blank project Added RoboTeam, used Merge for transferring current active projects from robots into RoboTeam. Now i just want to ask how the system will behave, for example robot 1 controller is the Time Master clearly marked with grey arrow between two robot controllers in RoboTeam editor. I didn't defined any motion master/slave relations and didn't form any single safety circuit cause i would like to everything to be independent like is now, just want to be able control robot 1 from robot 2 with SmartPad.
Also would like to know what does TimeMaster mean because in WoV manuals isn't explained good...
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But why then it is possible to disconnect from current robot but still have Smartpad connected to it? I think under RobotTeam it is possible to do this. Also if you think that SmartPad has it's own IP and WinCe installed then it should be.I'll try and configure project cell with two robots in WorkVisual. Moving the controllers out it is also posible but the electrian's have to check if they have enough lenght in cables to do that.
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Hello, i have KRC4 robots the of the same type and KRC4 controller, but one SmartPad. I would like to control robot 1 from robot 2 and opposite without having to disconnect the SmartPad and connect it to 2 robot because the controllers are inside cell and i have to open the doors in order to do that. With Virtual remote pendant i can access both robots, but from Connection manager on robot 1 i can see only that robot to which smartPad is curentlly connected but can't see also the robot 2. I can ping both robots but there is only one robot in the Connection Manager. The robot are not part of RoboTeam.
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the result in my case is the same, no PLC, ROBOT is his own "boss" and it's working OK like that. Or maybe you can try the same for $AUT and see how it goes.
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You will also control the gripper over Ethernet/Ip? if so then you could also setup the buttons for starting, stopping the robot over ETHERNET/IP? (node is on the robot?) uff (i would really put in some IO card in also) also i use robot like $EXT because if the robot is in $EXTERNAL mode rather the $AUT, the "cell" program gets automatically selected at poweron. If in $AUT mode the "cell" won't get selected. So in that way i can even have robot without SmartPad connected, i just leave in EXTERNAL AUTOMATIC all the time.
Maybe if you change that line of code in sps which runs the "cell" and add in $AUT option together with $EX, you could get also program automatically selected in $AUT.But if you think not to have the SmartPad connected to robot, you somehow need to have $MOVE_ENABLE, $DRIVES_ON,$CONF_MESS,$EXT_START connected to something in order to run and stop robot without SmartPad.
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You can do like for EXT, you just connect buttons for START STOP & RESET, put in DEVICE.net, define signal in AUTOMATIC external button START==$EXT_START[] signal, STOP button==$MOVE_ENABLE[],RESET button to $DRIVES_ON[] and $CONF_MESS[] and you can start robot, stop robot all from external buttons. If you use AUT than you have to press I button on HMI to put DRIVES_ON and that green + twice to start the program.
You can even connect light on buttons if you have it in order to signal that program is running, $PRO_ACT output to START light and $STOPMESS to RESET light so that when you have to acknowledge message the RESET light will be on until you press it -> RESET light goes off and then when you press START button the start LIGHT is on when the robot program is running.
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Hello. Is it possible to compare and check robot positions without breaking $advance run, if the robot has to decide between two points but don't want to break advance run pointer to achieve continuous move while checking positions or passing through OK points?
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I have tested this and can confirm. The problem was that the files had date & time set to year 2038. I downloaded file & date changer program, change the dates of files and VIOLA works. Thank you very much.
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Thank you very much for the response. I was also looking into the attributes of the files, but that also wasn't the problem. Then my only idea was to make empty programs on freshly installed KRC v5.2.14 with the same names of the original programs and copy the contents of the original programs into empty programs on freshly installation and this work for me(copying and pasting about 3 hours ). It would do the archive. So I'm leaning now more to MOM idea to look into file dates. I'll check this and inform you.
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Try to include also $VEL.CP variable or use BAS(#INITMOV,0).
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Hello. I have some wierd problem on one robot. It is a KRC2 controller with KR C v5.2.12 HF5 version installed.
Problem is that when i try to make an archive, the HMI losses connection with Cross3.exe(i can see this by semafor icon chaning to red cross in taskbar), and therefore also the archive isn't done. I've tried to change in KRCConfigurator different paths but problem was the same regardless which drive i defined to make archive on.
Also i tried to make a fresh installation of KR C v5.2.12 HF5. Format the hardisk, did fresh installation of WinXpe v1.1 Build 10, fresh KR C v5.2.12 HF5. Then tried to make an archive without restoring the last archive, but te problem stayed the same.Tried to update the KR C v5.2.12 HF5 to KRC v5.2.14, if i did automatic software update the problem stayed, but if i did fresh installation from scratch, again WinXpe fresh installation, then KRC v5.2.14, then i could make an archive. But when i copied the programs manually from orginal disk into R1 folder, the problem reoccured. If i deleted programs in R1 folder, then it was OK.
Also i have to mention that the robot work ok with these programs, just when it want's to do an archive the HMI losses conecction with Cross3.exe then you have to make a restart of Cross3 if you want to work further with KCP and HMI. Only idea is that the programs are somehow corrupted, but they work fine if you try to run them(robot executes them well). -
On the robot controller when i first installed profinet option package, the ip`s for profinet were the same for KLI and profinet. Under network configuration there were to virtual 5 and virtual 6 options available one for profinet and one for windows interface for connecting with workvisual. But robot controller gaved me error messages that there is IP conflict or double ip address error so i have to change ip for windows interface option (virtual 6) diferent from from profinet in order to get rid of error messages. So after that profinet works ok with siemens PLC. It`s just that when i try to conect with the robot through router with Workvisual i can see the profinet ip of the robot in workvisual but it doesn`t want to connect. Work visual give me error while connecting. Then tried to connect directly to with PC and not the router, i had to unplug the profinet cable from KLI port and plug in ethernet cable of the PC. When i do this, then robot has the IP address for windows interface(virtual6) and not ip of the profinet(virtual 5) over the same KLI port and then i can connect to the robot with WorkVisual. Then i tried setting the same ip address for both windows inferface and profinet with different port numbers but again robot gave errors for IP conflicts.So i would really like to connect to the robot without switching cables and over profinet if it`s possible and i thin it should be. Also i can ping the robot through profinet but can,t conect with workvisual.
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The robot is slave, Siemens PLC is master. And for the configuration of the IP's? Because now i had to change KLI IP address different(different subnet) from PROFINET IP in order to work.
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Hello! I have a KRC 4 controller which originally came with beckoff profibus module. I took module out and went with profinet setup. For profinet i used the KLI interface of the robot and managed to get it to work. My problem is now when i try to connect with PC to the robot controller with WorkVisual i have to unplug the profinet cable from KLI and plug ethernet cable directly to PC in order to successfully connect WorkVisual.Also i had to change the KLI ip address different from profinet ip because it was giving me the double ip address error. My question is it possible to configure the KLI so that i can connect to robot controller over profinet with WorkVisual or Virtual pendant so that i don't have switch cables anymore. I tried to setup same ip address for profinet and KLI but with different ports but always give me double ip address error. Any good ideas?
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Maybe you're robot is using external MOTOR on signal switch which is not coming to the robot.
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I've come across a lot of times with KRC's motherboards. Mostly KRC2 and KRC1. Even with new ordered MOTHERBOARDS from KUKA that the motherboard wasn't booting from the first time. So this is the first thing i check if i see the PC FAN spinning and PC not starting. I Just use my car key and short the pins, but be carefull KRC2 controllers can have 2 or 3 types of MOTHERBOARDS so the pins are not always in the same place, KRC2 ed2005 FUJITSU Siemens, KRC1 -> SOYO. In some you have BIOS option "restore to KUKA defaults". And if you reset the BIOS or battery, BIOS gets reset-ed to factory defaults and then you have to short this pins, PC won't boot automatically -> these pins are for power ON/OFF switch like on your desktop comp (i used to build my desktop PC's from scratch)
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Managed to do it in autostart.pc and it works nicely Thank you again for good advice and example ;)))
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Thank you again for the reply. I see your idea I think i'll go with autostart.pc and make marker in the parts of programs where robot must stop if signal is gone ;). I'm already using the EXTERNAL HOLD SIGNAL in the plc like MOVE enable in KUKA. also managed to do AUTOMATIC start of program Can you just tell me how fast is autostart.pc. from testing i think is much faster than KUKA's sps.sub