Posts by panic mode

i do not miss it all, this is dangerous. i remember returning from lunch and not checking the mode. colleague was using T2 and did not change it back. after casually enabling drives and trying to jog, robot moved suddenly and nearly crashed into some equipment there. if it moved the other way, i could be hit before having time to react.

DEF My_Prog()

INI

; this program uses tools 1 and 2 and base 7

tool_data[1]={X 0, Y0, Z 100, A 0, B 90, C0}

tool_data[2]={X 100, Y0, Z 0, A 0, B 90, C0}

base_data[7]={X 1123401, Y 0, Z 0, A 0, B 0, C 0}

; add rest of the program...

END

Quote from Leon

I have 3 robots where the gates need to be closed to move in T2.

That is implementation detail. Default is that robot does not care about state of operator safety input while in manual mode (T1/T2). Also older KSS even allowed jogging while in T2. Newer KSS do not allow that so in T2 one can only test programs while operator safety doors are open - jogging is no longer possible.

Integrator may choose to disallow use of T2. Common option is to simply turn off T2 mode. In older KSS if selecting T2 is still possible (since all hardware is still there, just the option is disabled in software), robot would simply display T1 and act accordingly.

Quote from Cwany

Not sure if it changed, but with KSS 8.5 in AUT mode you can use motion step, but not single step.

Single step requires user to login

beware that someone skilled and with right tools can get around this and re-activate T2. the safest way is to block T2 externally (using safety PLC) if your controller is connected to one via Ethernet.

disabling T2 means you will simply not be able to select T2 any more...

yes you can use motion step and single step in AUT mode.

Math behind the 3-point method for TCP?

sounds like a user to me...

either the KRC did not finish writing files (files not closed properly or usb stick was not ejected properly before removal)

or

there is something on your computer that removes the file(s), perhaps antivirus...

and if you want to program robots, do not just look AT file icons. look INSIDE files if you want to see what is going on. use another machine to verify that files are there and in correct format. for example after you remove USB stick from KRC... you COULD connect the stick right back to that same KRC and look inside files. if all ok then you know that files disappear WHEN you connect USB drive to your computer.

as already stated - create new program module using teach pendant then look what is inside those SRC and DAT files.

SRC file is used for instructions

DAT file is used for declarations

you are putting content of SRC file into DAT file. that is not allowed.

you can also confirm that by generating new program module on the robot. in fact that is what you should definitely do first to establish baseline for your robot programs. they contain other things (based on installed options) that are on your robot. those things end up in both SRC and DAT files (check INI fold for example)

SRC file has structure

    DEF program_name()
       ; blah blah
    END

DAT file structure is

DEFDAT program_name
   ; blah blah
ENDDAT

notice that DEF/END are used in SRC, while DEFDAT/ENDDAT are used in the DAT file

also notice that after module name there are parenthesis but - only in SRC file...!

then stop posting SRC file.

also try using Code tag around the program code in your posts

i would try narrowing the problem down....

which VSDs exactly? where is the ESI file?

if the problem is with the DAT file, don't you think inspecting and perhaps posting that DAT file would make sense?

sorry, i was distracted and missed the part about program selection.

i am not sure what is going on there. if you are using EXT mode then all control need to be external. if you press stop on smartPad, you will stop the robot but this is abnormal and will require recovery.

you did not clarify the key issues:

1. how is the CELL program selected? according to your SPS, there is no related logic inside LOOP. there is a default AUTOEXT INIT before LOOP but this only works once the SPS is started if robot is in EXT mode. that means most likely case (and still unconfirmed) is that CELL is selected manually by operator.

2. where is your code? i see nothing that uses stop button. at which line is program when you need to press STOP button on the smartpad?

CELL.SRC is just a name of the program module. you can call it CEL666.SRC if you like or DELETE_ME.SRC or WHATEVER.SRC.

question is how the program module is selected. if this is done by code in submit (rather than by operator), then you just need to adapt submit to match actual file name of so called "cell" module.

to answer any program code related questions, program code should be made available.

They don't....

Ratio does not change, it is a fixed gearbox, not automatic transmission. Axis is sized so that max torque, max speed and max power are never exceeded. You always work with less than axis is capabke of, it is just that at some times you may approach one of the limits. And if you not only approach but actually reach or exceed it, something is supposed to sense it and respond. Usually with a fault message.

Motor can reach some max speed... Or max torque... Or max power. But not all at the same time...!

Max speed is possible when there is no load. Great but not very useful. We need robot to move some load

Adding load reduces possible acceleration rate. Also may also reduce max speed as a consequence of limited motor power.

And when said load is sufficiently large, axis will no longer be able to move at all. This is stall condition. In this case motor produces the maximum torque and the speed is - zero. Also bot useful to waste energy to not move. We want robot to move, not act as a statue.

How you want axis to behave will determine type of control. This could be position control, or speed control or torque control..

You can control one thing only. Others are limits at best...

You cannot control both positions and speed for example as they are contradictory.

In most cases axis is using position control. If you tell axis m to some position, it will do so... If possible.

Motion planner generates setpoints that axis follows. Or at least tries ...

To ensure desired response PID loop is used. Actually it is often only PI loop - this may not be as capable as PID but it us inherently stable.

So motion planner tells drive what speed limit and target position are, the drive does the rest.

yes it was. never saw one physically, just in documentation. this is supposed to simply interface to IO on CI board so it is conceivable that KRC could be modified to work without it.

it is a SafetyBus P Gateway. two versions exists but look identical although version A has more IO. it plugs into CI board and creates (safety) fieldbus node. this should make safety circuit simpler and more flexible. it requires Pilz safety PLC as fieldbus master.

SafetyBUS P (and SafetyNET P) are safety networks by Pilz

https://www.turtle.com/ASSETS/…/PILZ_311040_Brochure.pdf

https://www.can-cia.org/filead…edings/2000_brinkmann.pdf