Posts by wpaynter

  • EK function details

    Quote from SkyeFire


    Are you using RoboTeam/Motion Cooperation? That's the only place I've ever seen the EK function -- I'm not even certain it's a part of standard KRL.


    What kind of axis integration are you trying to do, exactly?


    We are trying to enable a rotary table.
    Apparently it uses a kuka motor in it and is compatible.


    This robot uses Camrob


    Where is the EK function defined?
    It seems when we call it then it clobbers the contents of the $BASE variable and I get a 'work envelope exceeded' error.


    $BASE=EK(MACHINE_DEF[2].ROOT,MACHINE_DEF[2].MECH_TYPE,BASE_DATA[17]:{x 0,y 0,z 0,a 0,b 0,c 0})

  • EK function details

    Hi,


    How can I find out more about the command/function 'EK'?
    Looking in the Integrators manual it describes how to calibrate an external axis but not how to enable the synchronicity in the src file.
    The integrators manual says to look in the 'External Axes' Manual for details, but I dont see what Im looking for there either.

  • Max no. of interrupts on

    Kuka support techs figured out it was some customizations they previously did with our integrator that was buggy. The lines setting the interrupts were unnecessarily duplicated and after removing the duplicate lines the issue was corrected.


    Thanks again

  • Max no. of interrupts on

    There is 1 interrupt taken by our spindle
    2 for something else, (collision detection)
    and the rest are taken by the CAMROB file, equally split between line 412 and line 425
    so about 6 or 7 taken by that same line.

  • Max no. of interrupts on

    I am using a Kuka KR240
    I have sent it a job and about 30 minutes into the job an error appears on the teach pendant display.
    I restarted the job and it errors out exactly at the same point repeatedly with the same error.
    The job is a SCR file and a CAMROB CSV file. Checking the line in the CSV file nothing looks obviously amiss.
    I believe it was about 5000 lines into a 50000 line program.
    Has anyone seen this before?
    Thanks in advance :smiling_face:


    I have attached a photo and I will type the error text below for the search indexer.
    Error text below
    Max no. of interrupts on
    Runtime error while activating trigger declared in module CAMROB line 412

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