Posts by Casius

Thank you for answer,
I made mastering again with EMD and now the positioning is ok.

Hello,
Thank you for your answer.

There is no damage on robot's arms. No connection problem. The collision was only with the gripper.

Is there a variable to limit the torque in external to minimize the collision impact? or is no chance with velocity 100%?
I will try with EMD

Hello,
Thank you for replies.

Hello
I need some help please.
I had a collision in external mode and after that the robot position is not corect.
Is there a procedure to restore the right positions.
Unmaster and master again the axis with EMD will solve this?
If is possible please quide me the steps.
Thank you!

Thank you panic for your answer.
I need this option.
3. KRC4 is master to some I/O (such as your Impact20 module) and slave to PLC. PLC is master to other devices (other I/O and KRC4).
etc.

Does our controller support it? And which is the connection interface, I used X65 to communicate with pe PLC
I can't upload a backup but can be found here:
(The upload folder is full. Please try a smaller file and/or contact an administrator.)
https://www.robot-forum.com/robotforum/kuk…71034/#msg71034

Thank you.

Hello
I have a robot Agilus with Profinet option on the arm. XPN41
It's possible to read the inputs from sensors inside the controller KR4 via Profinet? or I have to connect the cable directly in the PLC and send back the signals state to the controller.
The robot it's slave to a PLC Siemens via Profinet.
The modul for inputs is: Impact20 ProfiNet-IO digital input module 16 digital inputs.
If is possible please guide me.
Thank you!

Hello,
I have 2 smartpads and 2 robots. Yesterday I made a small scratch on one smartpad. The touch screen doesn't work only if I put a drop of water on the scratch. I found a service to repair it but I will have to test the robots in external mode. After I disconnect the smartpad do I need a jumper?
Does someone know a way to "fill" the scratch or I will have to replace the keypad membrane? I think that the warranty it will not apply.
Thank you

Hello,
Thank you all for the responses.
Best regardes, Casius

Hello
Thank you RS for your help.
How can I activate the collision detection for HOME point or other point declared in config?
Do I need something like this in config?
"DECL TQM_TQDAT_T TM2={T11 200,T12 200,T13 200,T14 200,T15 200,T16 200,T21 1000,T22 1000,T23 1000,T24 1000,T25 1000,T26 1000,K1 280,K2 280,K3 280,K4 280,K5 280,K6 280,O1 20,O2 30,ID 2,OVM 0,TMF 1.00000}"

Is the mastering with offset affecting the positions repetability? or it's used to recover the first mastering?
Thank you!

Hello,
I have some questions please.
It's mandatory to teach offset with load correction? First mastering is done.

For load data determination.
Do I have to make it with part and without the part in gripper?

The gripper has 4-5 kg.
The part has 1.4 kg.
The rogot is KR 10 R900 Sixx, load 10kg.

Inside the programs, for motion PTP or LIN, do I have to specify when is the tool with part and when the gripper is empty?

Extra:
Collision box, false or true, is not active for inline when the points are declared in config. That means the collision can't be monitorized?

Thank you.

Hello
Thank you Panic for the detailed explanation.
Best regards, Casius

Hello,
I need some help please with the I/O on the robot wrist.
I want to use the valves to open/close the gripper. And the X41 for the sensors.
I don't know how to configure the outputs for the valves.
For connection X41 pins 11,12 are not assigned. Can those pins be used or are not wired? I need 1 more input.
In the attachment is also the workvisual backup if someone can help me to configure the valves.
Do I need an extra cable for X41 from the robot to controller?
I have a connection XPN1, is this only to connect with XPN41 on the wrist? And there I can use a I/O device on top of the robot?
Thank you

Hello Panic,
Thank you very much for helping me. Using your guide I was able to configure the communication between PLC-Robot controller.
Best regards, Casius

I need some help if it is possible.
I have a new robot with profinet option. The controller is KR C4 compact. I want to use profinet to communicate with PLC. PLC will be the master.
I have also the x11 interface for safety. Yesterday I moved the robot in T1 and T2 after I made some jumpers for X11.
I tried to set up the communication but unsuccessfully.
In the attach is the original backup using Workvisual. The connection for backup was successfully only on X69 because on KONI I didn't have ping using the same IP class (172.31.1.X).
The changes that I have made is to check the box "Activate PROFINET device stack" and change the Device Name in "kuka-R1". After download and ctivate the project I got errors like from the image. )
In step 7 I used GSDML-V2.31-KUKA-KRC4-ProfiNet_3.2-20140908, with 64OI safety and 256 IO.
The IP for the profinet is the same like the one in network settings (172.31.1.147)? and the slot is KONI?
Can some please take a look in the backup and tell what to change.
Thank you.

Hello,
Please help me with some information about wiring the safety circuit. I will have 2 kuka robots with compact controller, KRC4. The robot are in a small cell with doors. The safety relay of the cell is Pilz.
1.It's possible to run the robot in external mode without smartPad? Do I need a jumper for this?
2. I need to cut robot's safety if I press a emergency stop in the cell or open the door.
3. If I press the emergecy stop at the smartpad, I want to cut the cell's safety.
I need some electrical drawings if someone can help or information about the connectors.
Thank you!

Hello,
I have some important points like Home1, Home2,Home3, PickPosition, DropPosition in axis coordinates. In those points the robot changes the path program and the tool. I have to check if the robot is in the right point before PLC ask for the path program.
I have made a function to calculate the position using the axis coordinates.
Delta.A1 = ABS(ePOS.A1 - $Axis_Act.A1)
Delta.A2 = ABS(ePOS.A2 - $Axis_Act.A2) etc.
Now the client want to have the points in cartesian coordonates and calculate like
Delta.X = ABS(ePOS.X - $Pos_Act.X)
Delta.Y = ABS(ePOS.Y - $Pos_Act.Y) etc.

Can't this be a problem for the "safety" positions? Does someone have some arguments why the points Home are by default in axis coordinates?
Thank you!

Hello
I tried to simulate the cell prg in automatic external using kuka office lite. It's possible to make TRUE the sys inputs, like $move_enable or $ext_start.
I tried a mapping in sys.sub but no results.
Thank you!

Hello,
Help me please with some information
1. It's possible to run continuously a program in background? I want the program to run in all operating modes.
For example.
I want to set an output if the robot is a specific configuration or to make some math.
2. It's possible to send to PLC dwords or real values?

Thank you!

Thank you Panic. I only need the handshake.

Hello,
Thank you for replay. The PLC is Siemens,315 with Profinet. The system is KSS 8.2 or 8.3.
I have to order the robot and I need the right options.