Posts by Casius

Hello
Thank you for your answer.
No I don't want to resume a program selected by opertor. I have to create an alarm by Plc if the program was aborted or another program was selected by operator . How do I know if the operator used select?
Thank you

Hello
I need please some help regarding program start.
I'm using PNS method. If I want to start a program from beginning I'm using Prod Start and PNS Strobe.
To continue a paused program I use Start UI6.
The problem is that if the operator select a program I can start it with Start UI6.
Is there a way to detect that the program was aborted and select another one by operator?
In the I/O are cell outputs but doesn't work (program aborted signal), or I don't understand how to use them.
Thank you!

Hello
Do you have iRPickTool option?

Hello
I have a KRC 8.2 and a robot Agilus KR6 R900 sixx. (I found cd with vw 2.4 with the robot)
I have tried to open the project in Workvisual 4.0, 3.1 and 2.4. but the project doesn't contains the robot.
The big problem is that I can't make changes on the profinet to mapp the signals and deploy the project. I got error when I tried to activate the project on expert user 4.0 and 3.1. If I log on upper user (safety or admin) can I damage something? I use the original project .
Is possible to export the mapping from vw and copy on the robot controller using a USB?
Thank you!

Thank you for answer.
And something about program reload?
Thank you!

Hello
Can someone help me please with an information how to keep the digital output signals after power off?
For example
SIGNAL Selection $OUT[322] TO $OUT[329]

Selection=50. I need this number after restart. Right now it's resets to 0.
Or just a single output like $OUT[20] =true.

It's there a setting to reload in EXT the last program and pointer position after a restart? (like main (or subprogram) called from sps)

Thank you!

Hello,
A friend say that he has the same problem. The kss00099 can be a problem from Profinet version on the Kuka? Or is generated if the connection with the PLC is lost, because I know he didn't configured correctly the Ip/name on the PLC.

Thank you!

Hello
I need some help please to understand line tracking. To detect the tray I'm using a sensor.

1. I have teach a tracking frame. This are in coordinates with the World system no?
2. Boundaries are relative to the tracking frame origin.
3. I have teach the position of the sensor and I got ~x=-2000mm, relative to what? When do I need to make reference position? (I did once after sensor position)
4. I have taught PR for drop the part in cell 1 (x=-2034mm, after teaching), all other cell are relative to the first cell, no?. If i want to reteach the PR do I need to make a reference position or to run the tracking program until detect a new tray?
5. I want to switch recipe to have a different tray. Can I use the same drop program (With the same PR). From where can I take the taught positions when I change the recipe? Should I used PRs for all the recipes and different programs? I have around 60 recipes.

Thank you!

Thank you for answers.
To detect the home position I'm using axis workspace. (inside +-2 degrades of each axis). To detect if the robot was moved in manual mode I'm using a function in sps (I store the $axis_act in external mode+pro_act and in T1 I make a difference between that position and actual position). If is not the same position then I ask for home.
The problem is that the operator doesn't want to touch the KCP for BCO.
I want:
If the program stopped inside a subprogram (fence opened, emergency stop, restart), to check "something" (like on_path, near_path) and that to use ext_start.
$In_home is set only if the pointer is inside the cell before switch case? (I some in config that can be 5 homes points) .
Thank you!

Hello
I have a small issue regarding the external mode. I my logic in PLC, I use P_Free to check if the program was canceled and maybe the operator selected another program in T1. In this case I cancel the program and call again the "main program". I don't use classical "cell" because I don't know how to check if the robot was jogged in T1 or operator moved the robot in T1 in another program.
I have read about $On_path, but I think this is True if a program is executed in T1 and I don't want to use $Ext_Start in this case because it can be a wrong program even if the robot in on trajectory.

What should I check before I use Ext_Start? to use the classical cell.
On new controller restart (after a power off), the robot lose the $on path and cell is deselected?

Thank you!

Hello
Thank you for your answer. I don't think that I have this option on the controller. I have to check it.
The lights curtain is normally interrupted by object (product) which is on the conveyor. An operator can reach the robot area if he wants through the lights curtain .
Thank you!

Thank you for your answer.

What can I do for robot "stop" when light curtain is interrupted? I can make this software, to disable move enable. But it's not there some hardware solution using x11?
"Safety stop 1 and safety stop 2 can be triggered via an input on the customer interface. The state is maintained as long as the external signal is FALSE. If
the external signal is TRUE, the manipulator can be moved again. No acknowledgement is required." --from manual

maybe pins 18-19 and 28-29? Safe stop2

Thank you!

Hello,
We have 6 KRC4 compact controllers 8.33 with x11 for the safety function. Can someone tell me please how can I use some pins from X11 to stop the robot movement when a light curtain is interrupted. I don't want an error on the robot, because is an conveyor without mutting. Like disable enable move.
To monitor the emergency stop and fence we have used safety relays and contacts expansion from euchener or pilz. Are expensive,100 euro for 3 contacts , it's there an other solution, with other type of relay? Like that I need 24 safety contacts.
Thank you

Thank you for your answer.
The next examples are for the TP programs.
1. For a palletizing application I want to send from PLC the rows and layers number. And the to use a FOR instruction.
2. Select a tray model for a pick/place operation, the tray model comes from PLC
IF (R[20 : Tray model] =1) then call prg1
IF (R[20 : Tray model] =2) then call prg2
Something like that.

Thank you!

Hello
Can someone tell how should I update a register or PR from a Group input?
In a background program or in TP before using it?
For example in a TP with
FOR R[10]=1 TO R[11]
.....

And R[11] comes from PLC.

But for an output to PLC?

Thank you!

Hello
I have mounted the robot on a pedestal with 25 degrade angle related to the floor. It' 's the necessary to declare this somewhere in the controller? Now physically the robot base is not parallel with the floor.
Thank you!

Thank You. Is there a way to write for one PR the values in a single line?
Like that I have to use many PR because I have many programs. And I will like to use the same PRs in all programs just to init the values at beginning.
Thank you

Hello
Can someone tell a method to move in user frame offset from a PR.
I'm using something like:
PR[10]=PR [1] (PR[1] is the picking point)
PR[10,3]=PR[10,3]+100
L PR [10]...

All the time I'm using PR[10], but like this I can't go BWD.
It's there a way to set the offset like in ABB or other option.
ex:
Move P1 offset (x=100, y=500, z=100)
Move P1 offset (y=500, z=100)

Thank you!

Thank you all,

Now is working using all your great details and time.

Thank you
yes, I wrote the IP in the scanner devices. Tomorrow I will try again.
I just want to have connections running and the possibility to map rack 89 on different slots. I thought that I need to set for each connection the Ip for the scanner.
In the host communication menu is something with "local host" where I can put a name and an IP for different devices. (I don't know for what is this:( )
thank you!