Posts by mayank

    Greetings!!!!!


    I am trying to configure WAGO Ethernet IP coupler with krc4 controller. the configuration is like Ethernet coupler ->16 DI->16 DO. I manage to configure the the coupler and input are working fine but outputs are not working. Do any one have any idea why it is doing like this.


    The configuration is:


    input size : 2 bytes
    input instance : 108 or 107
    output size : 2 bytes
    output instance: 101 or 102


    Please anyone can guide where i am going wrong......

    you can try one more thing you can make the axis e1 as decouplable axis. you have to make few changes in your mada file. you can use this logic where you want to make e1 axis 0.


    precondition to do this you have to change the value of variable $brk_mode to B1010 to B1101 in mada. and have to declare the axis decouplable in mada.


    $async_axis='B000001' ; to make the e1 axis asynchronous


    wait sec 1


    $async_ex_ax_decouple= 'B111110' ;to decouple the eternal axis
    $axis_act.e1=0




    WAIT FOR $AXIS_JUS.E3==TRUE
    $async_axis='B000001' ; to couple it again

    DEF mastering_prog( )


    INTERRUPT DECL 81 WHEN $in[1]==true DO SS1()


    ;FOLD INI
    ;FOLD BASISTECH INI
    GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
    INTERRUPT ON 3
    BAS (#INITMOV,0 )
    ;ENDFOLD (BASISTECH INI)
    ;FOLD USER INI
    ;Make your modifications here


    ;ENDFOLD (USER INI)
    ;ENDFOLD (INI)
    interrupt on 81


    $async_axis='b0001'
    $ov_async=10
    asyptp {e1 500}



    END


    def ss1()
    interrupt off 81


    IF $ASYNC_STATE==#BUSY THEN
    ASYSTOP 1 ; STOP AXIS E1


    ASYCANCEL 1 ; STOP AXIS E1
    else


    ASYSTOP 1 ; STOP AXIS E1


    ASYCANCEL 1 ; STOP AXIS E1
    ENDIF



    ;----Decoupling the axis and setting 0----


    $async_ex_ax_decouple='b0001'
    wait for $axis_jus.e1==false
    $axis_act.e1=0.0



    ;----coupling the axis-------


    $async_ex_ax_decouple='b0000'




    i am using this code to run my application
    but when i check the value of
    $advance it is coming 3 and when i try to put this value as 0 in my program it is not taking it and giving the same error value inadmissible.

    Hello all,


    i have mounted axis 7 at the place of axis 6 by opening the robot wrist and now the axis is working ok in asynchronous mode but when i am trying to decouple it at that time it is giving an error that vale inadmissible. but if we run the code seperately whiout moving robot the code is working fine. :hammer1: this is a kr210 robot with krc4.


    plz give sugg. on this if any one has face this type of problem.

    hi


    you can achive this with PTP. You can teach 1 points and copy the same for 5 to 6 times and in each PTP point change the S,T value so robot will go to the same point with different path to the same point.


    ;make change in dat file.


    DECL E6POS XP1={X 685.44281,Y -493.972198,Z 1623.71704,A 31.7018204,B 86.6561737,C 66.6574936,S 6,T 50,E1 -2527.177,E2 -0.0124355899,E3 -0.000748005288,E4 0.0,E5 0.0,E6 0.0}


    DECL E6POS XP2={X 685.44281,Y -493.972198,Z 1623.71704,A 31.7018204,B 86.6561737,C 66.6574936,S 2,T 5,E1 -2527.177,E2 -0.0124355899,E3 -0.000748005288,E4 0.0,E5 0.0,E6 0.0}


    ;make change in dat file



    ; src file


    ptp xhome


    ptp xp1


    ptp xhome


    ptp xp2


    ptp xhome

    thank u TygerDawg for replying actually the component is a forged brass component with depth of 8mm and 56mm diameter . so have just 8mm to catch the component on gripper. i have tried aluminum gripper jaws but with smaller diameter and stick some rubber slips to compensate the diameter. the thing was working but only for 5 to 6 component. now i am going for aluminum gripper and one mor other material "MAZAK", what do u think about MAZAK. as far as 90 degree Celsius temperature is concern i cannot stop robot because my robot has to serve 3 CNC machine in 7 sec each loading and unloading. can u help me out with this.... so what i think is only changing material of gripper jaws will help me out.....

    Hi,


    i am working on a project in which i have to pick and place a circular brass component. i am using kuka robot i tried 3 different materials to design a gripper for this project but all three material didn't give the good result they are getting deformed at temp. of 90 degree. so any one could help me out in selecting the material for picking brass component at 90 degree Celsius.

    Hi...


    the error " basic inspection due" can be removed by just adjusting the correct time zone and date and day. then do one cold start. as far as bios problem is concern just check the button battey( cmos battery) on mother board just check that or replace that.

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