Hello
Thank you all.
Yes was a LIN motion and with Cartesian position
Posts by Casius
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Thank you for your answers
Is I have checked bit-by-bit and it's ok. The PLC is Siemens 1500. I did't make it on both end, I was just checking if I swap in PLC (the output) it will be fine in robot(input). And the result was good in the robot
Andrew where do I call those function? SPS ?
Thank you!
I can share a WOV backup if it will help. I will have more kuka robot and It will be good for me to use that option -
Thank you Leon. This was a very good idea. For now is working but I have to make more tests.
Does someone can tell why the axis 6 goes the shortest way?
The starting point - P1 have S and T.
I move PTP {A6 +190} from P1 . If select again P1, the robot rotate A6 + and not go to -.
Thank you! -
Thank you Leon for you idea. I will test it right now
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Thank you for your answer.
It's there a rule to fallow? I did it for inputs and also for outputs but no results. It's simple, click and drag those 2 bytes for an orange bar. If I swap the bytes in the PLC is working.
I also declared my word in config.dat and I mapped that group to Profinet swapped area.
SIGNAL CMD $IN[250] TO $IN[265]
Thank you! -
Hello
It's the swap function working in WOV 4.0. I want to send word value to a PLC Siemens. I can swap in PLC but it's more correct for me to use the VOW function.
Thank You -
Thank you for answer.
I'm trying to move the robot in different positions with the gripper orientation found by the sensor.
1. I have to move all directions (X,Y,Z) but to keep the gripper parallel with Y -axis in base frame.
2. In 2 points I have to rotate A +-180 degree. -
Hello
Can someone help my please with some ideas regarding the offset. The application is to move a cylinder part to a sensor and rotate A6 util the sensor is true.
I will use BRAKE and store POS_INT for the orientation of XHORIZ_0.
Then I have to move to several point using that orientation. I tried to move with offsets .XAPR_15=XHORIZ_0 : {X -30,Y 0,Z -100, A 0,B 0,C 0}
PTP APR_15 CONT Vel=30 % I Tool[1]:GRIPPER Base[3]:POST CD
XAPR_05=XHORIZ_0 : {X -30,Y 0,Z 0, A 0,B 0,C 0}
LIN APR_05 Vel=0.5 m/s I Tool[1]:GRIPPER Base[3]:POST CD
LIN HORIZ_0 Vel=0.2 m/s I Tool[1]:GRIPPER Base[3]:POST CDXHORIZ_180=XHORIZ_0 : {X 0,Y 0,Z 0, A 180,B 0,C 0}
LIN PERIERE_ORIZ_180 Vel=0.5 m/s I Tool[1]:GRIPPER Base[3]:POST CD
XDEP_10=XHORIZ_180 : {X 30,Y 0,Z 0, A 0,B 0,C 0}
LIN DEP_10 Vel=0.5 m/s R Tool[1]:GRIPPER Base[3]:POST CDThe problem is that if I rotate A6, the tool orientation changes random depending of the sensor detection. And when I make offset the robot can crash if the orientation is 180 different.
Should I use other method like Axis coordinates or LIN_REL? Or I don't understand right now how it will work because is don't have the sensor to test it:)
Thank you! -
Hello
Thank you for all the help. There was a bad fuse in the controller. 7.5 Amps. -
Hello
The robot it's connected to the controller and I can move it. I have no error or warning. I just want to know if is my mistake from some configuration or it's hardware and I have to ask for kuka support because it's a new robot. They are not so cheap:)
I will take a look inside the controller but I don't which fuse/location to check. I will see tomorrow, maybe I can find in the schematics
Thank you. -
Hello
Thank you Panic for your answer. Today I tried to map the valves but are not working. Is there a way to monitor using WorkVisual the arm's I/O? I still don't have 24 V on X41, I got around 0,46V. Maybe is the same reason why the valves are not working.
It will help if I attach a backup? maybe is something in the configuration
Thank You! -
Hello,
I need some help please with X41 on the robot wrist. I want to use it for 3 sensors.
Can someone tell me if X41 has 24V from the controller or I have to supply it from external source (Where should I wired it?).
Do I need also X12 to use X41 because I don't have it or that is another I/O possibility?When I started first time the controller I got the warning "KSS13012 <SYS-X44> Error during ECat stack initialization [NetworkResponse () no Network Response] ".
The warning was gone after I wired X11 or jumped X55 Pin 7 to 5 , pin 8 to 6 (I tried to jumped it for X41). I don't know which one solved my warning1. But my problem now is 24V for X41.
2. A message from KUKA.Maintenance. I don't know for what is that option and how to remove the message.Thank you!
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Hello,
Can someone help with an information regarding the amperes for outputs on CRMA58? I want to supply 2 lamps, 520mA each. Can I use two outputs or the 24V from the connector? I cannot find in the documentation. Is the connector protected by a fuse?
Thank you! -
Hello
Thank you,
For UOP are all unassig. "*".
Is there an option in roboguide like cross reference. To see in which program a variable or signal is used?
Thank you -
Hello, Thank you for all the answers
I have checked the config. My DO is no 5. In the config is DO[1-16] rack 1 slot 3 start 1
I have only GO 1 rack 1 slot 3 start pt 9 num pts 8.
The DO[5] is commented like "Home Position".
Any new ideas where to check?
Thank you! -
Hello
I have a digital output all the time ON. If I try to set OFF in T1, the controller switch it back ON. I have searched on Ref Position, Interconnect and also on BG logic for this output.
Is there a way to see where the output is used or configured? I have also roboguide if there is a option.
The controller is R-30iB.
Thank you! -
Hello
I need some help please regarding the i/o wiring on the 30-rib controller. I want to comunicate with a siemens et 200 using relays. I have read that I have to wire 0 and 24v on the controller ai16d and ao16d cards. Can someone tell me where i can find 0 and 24v on the robot controller? I want to return 24v back in controller inputs using relays on plc side.
Thank you. -
Hello,
Regarding the HALT instruction from tm_useraction, it's stopping the robot on path. I found that was external_start signal pulsing.In the collision detection window is TM displayed
Red: the current motion is not monitored.
Green: the current motion is monitored.
Pixelated: green or red during learning phase.
But I got pixelated (green or red) even if collision in activated.Is ok to be like that?
Thank you! -
Hello,
Please help me with some ideas.
I think that I have a problem with collision detection and how it's working.
Robot KR 10 R900 sixx and KRC4 8.3
The robot is in external mode. The input that activates the collision from the PLC is set always to 1 inside the robot controller.
To teach the tolerances, I have deactivated the collision from KCP and I have made 3-4 cycles at 100% in external mode and everything was fine.
But after I activate the collision detection I had a path deviation at 100%. The robot simple didn't stop in a stop point (no cont inside inline) and moves until it crashes inside the station.
1. Do you think that the controller detected a higher torque and tried to stop the robot but the velocity was to high?(collision detection reacted?)
2. In normal run I have some Info on KCP (blue "i") . ex: "Impact torque exceeded on fallowing axis 2" but this doesn't stop the robot.
If the collision "tm_useraction" set HALT instruction, the robot will stop and after that will accept external_start? (maybe is a pulse when is not PRO_ACT and Peri_Rdy)
3. I many PTP instructions I used vel=100%, acc=100% even if are short distances. There will be high acc but I think that controller know when to decelerate and stop in position. Please tell me if is very wrong and I have to reduce the velocity.
Please tell me your opinions about those points.
Thank you! -
Hello
Thank you SAABoholic for your answer. Is a new robot of the same type IRB 2600 and is a new cell (we build again the same cell). I cannot find a number for the option. In the backup appears like "Additional options"
Promia version 50.61.1509.22