Posts by panic mode


    when using parallel safety interface for safe operation (X11+X13), , you get only one safe tool. to get more tools you need to use safety PLC and on KRC side exchange safety interface to ProfiSafe or CipSafety or FSoE

    too much tension will damage the wrist, usually it is the belts and eccentric shaft that pay the price. too little tension and wrist may be skipping the belt teeth and of course damaging belt. tension need to be really accurate (1% or so) and therefore cannot be done without proper equipment and training. if used, belts are usually in the wrist but some robot models also have belts in the robot arm.

    with Dial mastering you need to find as exactly as possible center of V-slot. so normal approach is to find the dip, then reduce speed and pass it again (and repeat as needed) until you are right at the center, not before, not after. 1.7mm error for tool calibration is quite large but that also depends on how well defined your pointer tips is, how far the TCP is from flange, size of the robot, how well it is maintained (belts tensioned correctly?) etc.

    imho, it is always a good idea to have fresh backup. chances are that the moment you don't have it is the moment you regret it ;-)

    transport position may not work for every robot after it was used, for example energy supply, tooling etc may be in a way, so wrist may have to be moved to nearest suitable position. if tooling is heavy consider extra support but make sure that skid on which robot and this support are mounted is not flexing. rough transport may cause loss of mastering.

    and make sure that robot and controller are protected from elements during transport. so use closed trailer if possible or tarp it really well. even leave some bags of desiccant at strategic places just like KUKA did.

    i have used VisionTech few times but so far always used single camera.

    since you have two cameras, why did you bother buying new cable?

    would it not be quicker, cheaper and easer to test if problem is camera or cable simply by swapping parts between the two?

    btw, i would not move the original camera or lens before confirming that it really has to be replaced. i would just unplug cable from camera, then connect another camera (with own lens, just for testing) and check it everything is in working order.

    anyway, your steps look good, as far as mechanical exchange of camera is concerned - but to get precision, you should still carry out proper setup (calibration, zoom, focus etc.) since replacement means camera is moved. so this means using calibration plate and making sure it is located correctly at correct elevation, matching camera base.

    yes, VPP files and tasks are stored on the controller and can be backed up by creating archive. if i recall serial number is used to identify camera as cam1, cam2 etc.and task then uses cam1,cam2. so probably no need to change anything.

    btw. KUKA cameras are really OEM from Baumer and come preconfigured with KUKA defaults. Baumer has also own software called Camera Explorer that allows detailed diagnostics and configuration of the cameras.

    good job and thanks for an update.

    i also found from time to time that gains in some catalogs entries were off (1FK7042). in my case it was way too high (orders of magnitude larger than proper - clearly a typo). when value is too large it would affect not just that axis but every axis (even robot arm) became unstable and would continue to scream and move even after release of enabling switch so EStop was needed. solution was to edit the value of course.... (KSS8.3, don't recall WoV but this must have been 3.x or 4.x)

    take a closer look at cabinet label. it should contain article number (long number starting with 11).

    contact Kuka and share that number when requesting schematics.

    if the external label is worn out, there is a backup label inside cabined on the right wall.

    i am not saying that it does not exist but page you linked clearly shows HPCBS (first picture and table after it - it is the new one with two bladders).

    the next picture is of SSCBS. both are exactly the units shared photos of in previous post.

    HPCBS does not have any springs and cylinder is very skinny (practically just a shaft).

    springs are bulky. something that uses combination of gas and spring would have to have larger diameter than shaft alone.

    well what other info you have? CBS should have own label with article number etc. also this is spelled out in packing list among other things. it should be also in manual. robot info is also stored in RDC.

    SSBBS is large unit using springs and as mentioned before it has no pressure gauge


    HPCBS has cylinder and external vessel with bladder. they are more compact and also have pressure gauge.

    on newer systems, to avoid single large bladder (and some regulatory complexity), two smaller ones are used but principle is the same.

    i have not encountered unit shown on your photo.

    you will need to provide more info. please check pinned topic READ FIRST

    i would expect to see KSS/VSS version, number of external axes, any pother messages (there is TONS of them and you only show the most recent four)

    select another job, read the manuals, verify configuration...

    if the table shows inputs to welder, those signals must be outputs to robot.

    if your fieldbus is setup correctly, IO are mapped correctly then robot can control this

    suppose Fronius inputs 33-40 (8bits) are mapped to robot outputs 121-128 (also 8 bits), you can have signal defined as


    then your program can assign job number values as needed.

    for example:


    ; do something


    ; do something else


    ; do something else

    CBS = Counter Balance System

    so all of the types have two letter prefix to specify type. so spring type is SSCBS which is not what your picture show, springs do not have need for pressure gauge like Hydro-Pneumatic for example.

    You still did not mention anything of your external axis, such as model, type, catalog type used by WoV etc.

    Parameters are locked for Kuka kinematics such as positioners and rails made by KUKA - for example linear rail KLxxxx, or positioners like KP1, KP2, KP3 or DKP....

    If your external axis is not KUKA productt, use different catalog that allows customizing.

    If axis moves but you get positioning error, check in position window. For rorary axis, that is small ... About 0.1 deg.

    But for linear axis units are different and valie is about 1.5 mm