Posts by Plc_User

I suppose the feeback type of the servomotors on the new Kuka robots is still resolver?
Are the resolver data somewhere available?
The only relevant thing I found is the attached document. This refers to requirements for non Kuka motors to use on KRC4 controllers.
The question if the modern Kuka servomotors are suited to be operated from drives like Beckhoff, motion would then come from the Beckhoff kinematics.

The idea is put away, as we also got the confirmation from Beckhoff it will not work.
But Beckhoff said their Twincat runtime can run on Denso robots.
The other option would be to use the Beckhoff kinematics (and Beckhoff drives) to control the motors of the Kuka robot.

We want to run the Beckhoff independently. The Beckhoff will have nothing to do with robot motions and also not the other way around. It is just using the Kuka IPC for the Beckhoff drives , to reduce cost in a scaling project.

Is it possible to run Beckhoff motion control on a Kuka controller?
This was a question that arose as we were thinking about new machine concepts.
The final goal would be to reduce costs for large scaling projects, by having only one controller for both.
So far there has not been a choise for a specific robot and robot controller, but it is to request for any feasibility.
From the Beckhoff site we would have some servomotors that will to camming to a virtual master. Motion control
will be programmed in latest TwinCat version, motion will run in NC-task.
There is no coupling of motion between the robot and the Beckhoff motion application. The goal is as said cost reduction for large scaled projects.
Should this ever have been done in the past?
Are there things known from the Kuka side that would exclude Beckhoff motion control running on its controller?

Thanks

In the application, in the sps the software limits of axis E1 are now written in the submit program :
f.i. $SOFTP_END[7]=180.0, $SOFTN_END[7]=180.0.
The writing is always done (no if statement).
We got reply of custommer that sps is sometimes stopped since we did last changes to the robot.
The changes were not just the software limits but also other code.
We did not get the ability yet to inspect the logs of the robot for diagnosis.
Does anyone know if writing the software limits of an axis constantly in the sps is no problem for the controller, or if it could be the cause for the sps stopping?
Until we get access to the controller it would be good to know if this is allowed.

We have Kuka robot KR90 R3100 extra HA V8.5.9 KRC4 that controls two KP1 manipulators KP1-H5000. The two manipulators are configured in master slave position control,
because they are placed opposed and are used clamp in between tubes to weld on. Now we want to teach in the geometric transformation between the manipulators and the robot. That for the purpose of the tcp of the robot following the motion of the KP1 when both are synchronous coupled.
Questions :
- the procedure of teaching in 4 points where the tcp of the robot touches the probe of the KP1 in different positions,does it has to be done on the master, or may it also be the slave?
- As someone else has done the basic configuration of the system, what is the easiest way to detect which manipulator is the master and which one is the slave?

Thanks.

We have KRC4 robot KSS 8.5.6.
I was wondering if the calls of the submit interpreter are somehow related to the robot program.
I know SPS is cyclically called, but can the robot program at any line of its code be interrupted, or are there restrictions where a call of the sps is not possible. I should like to know that for the synchronisation between robot program and sps program.

Our system is KRC4 robot KSS 8.5.6.
We have triggers that will set output signals at certain distance from target position.
An example is this :

TRIGGER WHEN PATH = 120 DELAY = 0 DO QSeparatorOut = TRUE

This trigger will set the output 120 mm after the target position.
However in certain condtions we will stop at the target position and do an additional motion.
We do not want however when we do the additional motion that the output is set during that motion.
So at start of the additional motion (if it is executed) we need something to disable the already configured trigger.
How can we accomplish this?
If the trigger would be on 'PATH = -120' it would be no problem because then the output is set before the target position.
In our case it is after the target position.

EthernetIP will be no option, the Siemens controllers to communicate with are all on Profinet.
On the first plc (that is doing now the standard communication : ext start, etc) we cannot change anything because we have no acces to it (source code, passwords, etc).
Remaining solution is making the second plc profinet device of the Kuka.
In that case, if f.i. that second plc is powered down, will the Kuka controller be able to run its programs as if the plc node was powered and ok? Of course we will not receive any data from the second plc, but I mean does a failed profinet device node of the Kuka prevent the Kuka let the robot run its normal motions or will the robot interpreter be haldted?

What do you mean exactly by a clean install?
If I restore the base project (that the robot was initially delivered with), can I do that without the (unknown) password will be asked?
Or what should I understund from 'Clean Install'?

Our robot is KRC4 KSS 8.5.6.
It is a Profinet device of a Siemens plc that is Profinet controller.
So the Siemens Plc handles the 'auto external' signals of the robot and also the safety over Profisafe.
Now the robot should communicate with another Siemens plc over Profinet.
I don't know if the robot can also be a Profinet device of another plc?
Or does the robot then have to be controller of that second plc (that then will be Profinet device)?
For both cases I don't have seen examples before :
- KRC4 as Profinet device to a second Profinet controller

- KRC4 as Profinet device of one plc, and as controller of a second plc.

What is possible or advisable here.
The communication to the second plc is off course non failsafe.
Are there examples, manuals, posts available about these two options?

Thanks

Our customer has a KRC4 robot KSS 8.5.6 with the option Safe Operation3.4.5.
The machine builder that commissioned the robot does not exist anymore. The customer has no passwords, no received source code of the robot and of the plc that is Profinet controller of the Kuka.
We now should want to change some settings in the safety zones. We don't know the 'safety maintenance' password, it is not the default.
The administrator password is the default.

We succeeded in uploading the project from the controller, so we have now the Workvisual project of the controller.
After implementing the changing we will do a complete safety acceptance as necessary, and take full responsibility of the installation.
Is it possible to make changes in safety in Workvisual and then deploy to controller, although we don't know the actual 'safety maintenance' passwoord? Or should more things be done on the controller to overcome the fact that the 'safety maintenance' password is not known?

Our customer has a KRC4 robot KSS 8.5.6 with the option Safe Operation3.4.5.
The robot was not commisionend by us, but now the customer asks us to change some settings that are in Safe Operation.
I know the pasword for Admin is the standard 'kuka', but we don't know the password for the user 'Safety maintenance'.
Can we change all settings from Safe Operation with the login of Admin, or do we need to login as 'Safety Maintenance'?
The manual was not completely clear to me on this point.
We have at this moment no acces to the robot.

Thanks

Our system is KRC4 KSS 8.3.34 and kr470-2PA robot.

In a certain part of our program the robot moves its gripper horizontally, from point A to point B with a PTP motion.
Then the gripper is moved from position B to C, what is a strictly vertical movement downwards.
Point B is approximated, point c not (robot stops at point c for some actions).
For reduction of cycle times we tried to speed up the motions.
Off course for the PTP motion this is no problem. For the LIN motion however we can only bring the speed to about 60% of maximum (2 m/sec), otherwise we get error of axis 5 (palletizing robot), sometimes also from axis 2.
If I change to motion to point C to SLIN in spite of LIN, will larger movement speed of that section then be possible?
For now I can in stop the LIN motion to C if a condition is not ok, this is done with the brake-resume function, and works well.
Will that brake function continue to work is LIN is changed to SLIN,
The tool data is setup correctly.

Thanks,

Ok, so it seems not be possible to influence that decceleration.
But what will the decceleration rate then be is §OV_PRO is set all of a sudden to zero?
What is its rate for a LIN motion, what for a PTP motion?

Our system is KRC4 KSS 8.3.34 and kr470-2PA robot.
If I use the 'Brake' function in an interrupt routine when a LIN motion was active, what decceleration value will be used then? If I have set $ACC.CP to a certain value before the LIN motion was started, will this value then also be used for the decceleration when brake function (not a brake f or brake ff) is executed in an interrupt routine?
Or is a fixed decceleration value always used?

If the motions are as in my case only rotations of E2.
What is the guideline for the value of the approximation distance for LIN-commands (with C_DIS)?

Can I conclude that in my example as posted before :

LOOP

LIN P1 C_DIS

LIN P2 C_DIS

LIN P3 C_CIS

END_LOOP

P1,P2,P3 are E6POS variables, that have all identical values, except that

P1.E2 = 0.0, P2.E2 = 120.0 and P3.E2 = 240.0, where E2 is the external axis of the manipulator that must rotate.

$ADVANCE is set to 3 and load data is not changed.

That the motion of the external axis will stop shortly every time P1,P2 or P3 is reached?

Load data is unchanged during the whole cycle.

The value of $ADVANCE IS 3.
It is set explicitly before the subroutine RotateCil() is called : $ADVANCE=3.

After that instruction there are no other assignments to $advance before entering 'RotateCil()'.
On the KCP I also see its value at 3 when executing RotateCil().

PowerOnPreheat , CycleStep_PreheatKP1 and NegDirectionPreheatP1 are defined as global variables in a Dat-file.
DECL GLOBAL BOOL PowerOnPreheat=FALSE
DECL GLOBAL INT CycleStep_PreheatKP1=12
DECL GLOBAL BOOL NegDirectionPreheatKP1=FALSE

If BASE_DATA[4] is not changing during execution of the loop in RotateCil, the motion stops shortly every 120° of E2-rotation. If f.i. the X-value changes slightly (even if its only 0.001 mm every new LIN execution) the rotation is not stopped.
BASE_DATA[4] is the base used in the LIN-motions

DECL GLOBAL FDAT FP_PREHEAT={TOOL_NO 1,BASE_NO 4,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}