As I do it with the fixed base and the base that is changed for every pick, it seems to work, but if I start at the left side and I go far away to the right side from my reference point, I have problems for a PTP movement, the message is 'Software limit A1 out of range'.
Could it be that the status and turn are not correct anymore? My reference point is at the origin of the fixed base. When I do a positioning, I always use this point with everytime a changed base, but the status and turn of my reference point is not changed.
How do you cover using a PTP-move with same reference position but with different bases?
Posts by Plc_User
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I have to do a palletizing process with KRC2.
For that I have to pick products from a pallet. I will create a separate base frame for the pallet.
For all the positions in the pallet I only should want one reference point and link all the positions to that reference point by offsets.
For instance every position I need I need in the pallet have X,Y, Z offset to a reference point. These positions not only include the final pickpoints in the pallet, but
also the approach positions.
I cannot use 'LIN_REL' as command, because I have no existant point to start from to do relative positioning. If I use the geometric operator 'P2=P1 : {X 0, Y 100,Z 0,A 0,B 0,C 0}', it is based on the TCP position, and I should want my offsets-positions related to the base position.
Anybody has experiences on how to solve this?
As I understand offsets related to base frame : use 'LIN_REL' or 'PTT_REL', but this is also related to a previous point,
for offsets related to tool frame : geometric operator, but I want it to be related to base frame. -
Is there a possibility to show the history of the TCP positions as a drawn line in Kuka Sim.
I mean, just as there was a pencil in the tool center point that continuously draws a line. -
I want to do offline programming of KRC2, robot KR150 L110 in Office Lite,
but for the moment I have no backup of the real robot, so also no machine data file.
How can I then program in Office Lite and have a correct simulation in Kuka Sim? -
I should want to do offline programming in texteditor of KRC 2 program.
I would start from an archive of the controller, and then on a pc do changes and additions in text editor.
Is it ok to copy all the changed files in directory of the controller en from there copy them with the KRC user interface to the right folders of the system (KRC folder)? -
In KRC 2 I have an input word : SIGNAL IW_PLC_Recipe_Number $IN[201] TO $IN[216] ,
that I want to simulate (I am working in Office Lite). I can simulate separate inputs (as shown in the manual), but is there a way to simulate to simulate a combination of bits (to set is as an integer value)? -
Is it so that you can only do a restore of an archive that you have made on the robot where the archive is made and that the name of the archive has to be the same as when taken the archive (not renamed)?
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1) How do I select the robottype in Office Lite KRC2? Or is this not neccesarry?
2) I should want to program a robot in Office Lite KRC2, but starting from a backup I have from another robot type (also KRC 2)
What is the way to go, to restore as much as possible from the other robot, but not to change something critical about the robottype to be programmed (machinedata etc..)? -
I want to archive my KRC 2 as a zip file that has a name where the robotname and date and time is included.
Is this possible, and how? -
I should want to change the dimensions of an object in robotstudio.
Specifically the 'Euro Pallet', I should want to make it length = 1200, width = 900, height = 80.
Is this possible, and how? -
How can I show the working range of a robot in ABB robotstudio.
I mean comparable with visual representation in the datasheet of the robot, where you see shape in which the robot can moven. -
The manual speaks about the technology packages 'measuretech' and 'touchsense'.
I want to move the robot towards a tactile sensor and capture the robot's position when the sensor gets touched.
Can I without using 'measuretech' or 'touchsense' just configure an interrupt with condition $MEAS_PULSE[1] == true and then in the interruptprogram read in $POS_INT? -
Where can I find documentation about the pin layout to connect a cable to RDC to using the fast measure inputs?
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From a KRC 2 robot of a customer we have received the all the files.
There is a profibus card in the robot.
When looking into the iosys.ini file I had the impression that input addresses 1-16 $IN [1 -16] are defined twice : for MFC and for Profibus.
Underneath is inserted the IOSYS.INI.
Are inputs 1-16 realy double configured (and thus wrong), or do I misunderstand the situation?;==========================================================
; IOSYS.INI - Configuration file for the IO-System
;==========================================================
; For configuration help go to the end of this file.
;----------------------------------------------------------
; cp 28/04/2010 13:11
; ATTENTION !!!! Since V5.0 Build13 we have removed the DeviceNet
; driver "dndrv.o". Now you have to use the driver
; "dn2drv.o" and the appropriate syntax (form 2)[CONFIG]
VERSION=2.00[DRIVERS]
;CNKE2=21,cnke2CPInit,cnke2drv.o
;DNSC6=20,dnsc6Init,dnsc6drv.o
;DNSC5=19,dnsc5Init,dnsc5drv.o
;DNSC4=18,dnsc4Init,dnsc4drv.o
;DNSC3=17,dnsc3Init,dnsc3drv.o
;CNKE1=16,cnke1CPInit,cnke1drv.o
;INTERBUSPCI=15,ibsCPPciInit,ibpcidrv.o
;DSEIO=14,dseIoInit,dseiodrv.o
;DNSC2=13,dnsc2Init,dnsc2drv.o
;DNSC1=12,dnsc1Init,dnsc1drv.o
PBMASL=11,pbmsInit,pfbmsdrv.o
;DEVNET=2,dnInit,dn2drv.o
;INTERBUS=1,ibusInit,ibusdrv.o
;MFC=0,mfcEntry,mfcdrv.o[MFC]
INW0=0 ;$IN[1-16]
OUTW0=0 ;$OUT[1-16]
OUTW2=2 ;$OUT[17-32][INTERBUS]
;------- Inputs ---------
;Slave Inputs
INW50=896 ;$IN[401-416]
INW52=898 ;$IN[417-432]
INW54=900 ;$IN[433-448]
INW56=902 ;$IN[449-464]
;------- Outputs --------
;Slave Outputs
OUTW50=896 ;$OUT[401-416]
OUTW52=898 ;$OUT[417-432]
OUTW54=900 ;$OUT[433-448]
OUTW56=902 ;$OUT[449-464][DEVNET]
[PBMASL]
INB2 = 5,0,x1 ; $IN [17-24]
INB0 = 5,1,x2 ; $IN [1 -16]
OUTB0= 5,0,x4 ; $OUT[1-32]INB5 = 127,0, x20
INB5 = 127,0 x 18
; SWAP
INB23 = 127,19, x1
INB24 = 127,18, x1
INB25 = 127,21, x1
INB26 = 127,20, x1
INB27 = 127,23, x1
INB28 = 127,22, x1
INB29 = 127,25, x1
INB30 = 127,24, x1
INB31 = 127,27, x1
INB32 = 127,26, x1
INB33 = 127,29, x1
INB34 = 127,28, x1
INB35 = 127,31, x1
INB36 = 127,30, x1
OUTB5 = 127,0,x20
;SWAP
OUTB25= 127,21, x1
OUTB26= 127,20, x1
OUTB27= 127,23, x1
OUTB28= 127,22, x1
;NO SWAP
OUTB29= 127,24, x1
OUTB30= 127,25, x1
OUTB31= 127,26, x1
OUTB32= 127,27, x1
OUTB33= 127,28, x1
OUTB34= 127,29, x1
;SWAP
OUTB35= 127,31, x1
OUTB36= 127,30, x1 -
What is the way to go to have fast inputs - outputs on KRC 2 controller?
I then speak of 500 ms or less delay in the signal.
I believe standard the KRC 2 has no IO?
What module or card do I need to get fast inputs - outputs? -
The problem is, that both robots need their own IO on profinet (digital IO) next to the communication between the controllers.
Can the CP1616 be controller and device? -
If I have two KRC2 robots, both with CP1616 profinet card, will it be possible to have direct communication between the two robots (while each robot has its own IO)?
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We want to integrate a Kuka KRC2 in our safety system.
We are providing relais contacts for the signals for Exteral E-stop and for the Safeguard channel.
We will bring the Local Estop from the KCP to our safety controller.
I suppose this may work this way?
I also suppose the contacts of the 'local Estop' only open when the emergency stop button on the KCP is pushed?
We also would like to the contacts of the local Estop to be closed (no Estop) if the Estop is not pushed and the powerswitch of the Kuka cabinet of off.
I suppose connecting external 24V to X11.88 and 0V to X11.89 will accomplish this? -
I can install and operate the Kuka officelite you provided in the link, but the Kuka Sim Pro requests a license file.
The only file I can find in the directories is 'irunin.dat'
But that file does not seem to be the correct one.
How can I activate Kuka Sim Pro 1.1 I downloaded from the link? -
I want to create a system from backup in robotstudio 6.
The backup is robotware 5.13 and that cannot be found in my mediapool.
Where can I find the mediapool for robotware 5.13?