Correct,. Just enter distance in tool direction axis and of course watch for sign.
For example if tool direction is X, retracting would be:
LIN_REL {X -100} #TOOL
Correct,. Just enter distance in tool direction axis and of course watch for sign.
For example if tool direction is X, retracting would be:
LIN_REL {X -100} #TOOL
Kuka does....
you will need to create mada for your kinematic. KUKA will do it too for a "small fee"
Yes it is possible.
Controller would want to have at least three axes. So make iit three but simulate two missing ones and everything will be fine.
Kuka uses X-axis as default tool direction. I guess this has to do with the Function Generator and arc welding applications so it became a standard. One can change that two ways:
1. for single time use, just measure tool as usual then manually offset B by 90deg.
2. for more 'permanent' change, login as expert, minimize HMI, goto folder C:\KRC\UTIL\RegUtil and merge corresponding REG file (something-something-Z-on.reg). after this perform reboot and next time you measure tool, default will be Z instead of X.
just use WoV 2.4.6 (Build 98 i think)
This is English forum section. If you want to post here, post in English. You have been warned already here and here. This is the third and last warning.
Courtesy of Google translate:
"First, with the connected 5-pin keyboard. press the Windows logo key ... (Windows Explorer opens). in the following folder: (kuka data krc folder (open search model mada dials the 4 files with the keys copy the 4 files with (ctrl + c).) We go out and look for the krka folder of the kuka disk we look for the mada. press inside (Ctrl + v) pasted, we are asked if we accept the change, press (tab) on the main screen we look for cold start and turn off the robot, again at the beginning the robot model is changed."
for KSS8.2 I always use WoV 2.4.6
you can find out what version was used to deploy project by reading file
Config\User\Common\KRC_IO.xml
about point 41.... you can edit it in WoV.
in fact WoV lets you can generate entire pages of ConfigMon.ini simply by picking variables in WoV. Check WoV video instructions.
If the goal is to just backup and edit ConfigMon like a text file, there are several options and yes, this can be done with WoV too but this is not ready out of box. It requires a bit of setup in the WoV project:
to add ConfigMon to WoV project, navigate to files tab, and under controller add new folder called C. inside that folder create further folders KRC and USER. under USER folder place your copy of ConfigMon (C/KRC/User/Configmon.ini).
this will allow you to manipulate this file offline and deploy it. but - this is a one way street. any time you make change to ConfigMon on the smartPad, and then do transfer of WoV project from KRC to WoV, you will get back the file that was deployed, not the just edited ConfigMon file.
To solve that, you need to add entry on the robot side in file:
C:\KRC\User\ProjectExternalFileList.xml
what version of manual you have?
for example "Mode for worskspaces" is on:
page 176 of document V4 from 2015
page 178 of document V6 from 2017
page 182 of document V7 from 2018
etc.
"#OUTSIDE_STOP, Cartesian workspace: The defined output is set if the TCP or flange is located outside the workspace."
please read pinned topic READ FIRST... you should mention exact versions
your project fails to compile so you are doing something wrong.
are you sure that WoV is correctly installed and configured?
are you sure that you integrated correct KOP versions?
are you sure option is installed on KRC4 before you transferred project from KRC4 to your WoV?
are you sure you followed steps correctly about conveyor tech configuration?
did you try to restart WoV?
what document and version you are using? this is documented in programming manual for system integrator (KSS_83_SI_en.pdf)
consider hiring someone. you are not exactly following advice or reading responses and i don't have patience to pull words out of you...
>> "I followed I instructions provided by kuka."
what instructions?
>> "Tried all that and nothing works."
what is 'nothing'?
>> "X11 is disabled with a jumper on x311 and x48 unplugged to the SiB"
did you activate safety configuration after deploying and activating WoV project?
>> "Non profisafe comms are working.."
impossible... no I/O are mapped, bus may be running but no data exchange takes place. how are you testing this?
>> "Non profisafe comms are working...Profisafe wont work :("
that PLC is a safety PLC. what did you map there and how?
>> "GSDML used on plc : KRC4-Profinet_3.3"
what the heck is that? do you mean "GSDML-V2.32-KUKA-KRC4-ProfiNet_3.3-20170131.xml"?
and how is it configured? you mentioned PLC complaining about memory access. what addresses are used here?
>> "Please note that ive done profinet communication many times on this type of robot"
possible but very doubtful... no I/O are mapped... and there is no mention of what is on the PLC side.
>> "I set up all reserve bits to be true. This just gives me plc memory wrote error meaning comms arent working ."
why provide digested interpretation of the message instead of actual message? did you read READ FIRST?
>> "Do i need Profinet ProfiSafe Device option installed on KRC4?"
There is no separate option just for 'ProfiSafe device'. ProfiSafe is part of ProfiNet. If ProfiNet option is installed, ProfiSafe is installed too... and yes, if you want to use ProfiNet or ProfiSafe - ProfiNet option must be installed on controller. Not just that, in this KSS it has to be installed on KRC4 controller BEFORE you do anything else:
a) take working WoV project from KRC4
b) add your modifications to WoV project (bus configuration)
c) deploying and activating project
d) activating safety configuration.
are you sure you took project from controller after the ProfiNet was installed? installing options modifies bunch of files on controller. you want all of those files in the project before you start adding your things into project.
my recommendation is to get non-safe data exchange working first. and have it tested. set bits on one end and see if they change on the other end, then reverse process. after this is done, add the safety signals.
when configuring programmable controllers (PLC, KRC) you are dealing with computers. they take things literally (so do i, when dealing with computer related issues). so try to be explicit. do not abbreviate things, do not assume things, check pinned topic and responses you got here. i had many times people call me for help telling about robot fault, and when asking what it is, they reply "something about servo axis". Duh... there are THOUSANDS of messages about some 'servo axis'. be specific... every comma, dot or space in the error is important. only then one can search for it. scrambled message content or file names or software versions are useless. i hope this helps not just you but many others, good luck..
i am willing to offer help but i don't quite know what you are talking about.
please read pinned topic READ FIRST and communicate so i can understand you.
>> "I'm having the same problem"
what problem may that be? you never explained and your response was to message that had no issue.
>>"Ks150002 safe device communication error profinet device. And safety stop."
Never heard of Ks150002. If i was to GUESS, i would say you may think of KSS15002.
Please proofread your posts. Details matter and I can't read minds.
Or if you like, i can make random assumptions and give you random answers, but I guarantee you that will NOT will take you where you want to be...
Which safety device is supposedly having problem with safe communication?
smartPad, RDC, KPP, KSP or something different entirely? on which bus?
what is your KSS version? what is your ProfiNet version?
what is your KRC connected to? What are the network settings?
what are the device name settings? how are they connected?
what exactly is your ethernet cable connected to (what port)? is it connected?
>> "I followed I instructions provided by kuka."
that is good, but you never stated what those instructions are. how can we guess?
you should talk to Kuka then...
>> "Set profisafe ID to my plc f destination address."
was that all of the 'instructions' you got from Kuka?
you posted two sentences which didn't even scratch the surface.
Kuka has 4-days training on this, and that is after you pass prerequisite courses.
>> "Tried all that and nothing works."
nothing? really NOTHING? you need to explain that.. that is a very broad statement.
are you saying that neither PLC not KRC powerup, no light or fan turns on? did you check fuses?
or you mean there are no displayed messages, PLC does not scan and robot cannot be jogged even in StartUp mode?
>> "I set up all reserve bits to be true."
good... that is in the manual and was discussed here already.
if you toggle first reserved bit, does that bring/remove red banner on smartPad?
>> "This just gives me plc memory wrote error meaning comms arent working."
plc reading and writing memory is separate issue.
btw what PLC we are talking about? are you sure PLC I/Os are mapped correctly?
>> "Non profisafe comms are working...Profisafe wont work :("
well that is a progress... but... what is the role of KRC4 in your setup (master/slave)?
what is the role of PLC in your setup (master/slave)?
is the PLC a safety PLC? what did you map there and how?
which of them has GSDML of other device? how is it configured? older ProfiNet versions and GSDML files had different RPI limit.
>> "X11 is disabled with a jumper on x311 and x48 unplugged to the SiB"
so controller used to have X11... did you remove SION-SIB boards from WoV project?
did you activate safety configuration after deploying and activating WoV project?
>>"Any suggestions ?"
i cannot write personalized responses for each new forum member on something basic like how to ask for help... they are supposed to look around and read a bit before asking questions.
read pinned topic READ FIRST. search forum. this has been discussed before.
when asking for help be specific. it takes some practice to get it right. we all have been there...
need to setup beer account ...
i did... and yes it works.
if using EKI to communicate with program running inside OL, just use address 192.168.0.1.
for communication with external application normally one need to use router. this is a small piece of software that can be obtained from KUKA.
Note that EKI runs on VxWorks. This is also where KLI port is.
But in OL there is no KLI so the only option users have is to get access to EKI through RTOS port 192.168.0.1.
Without router there is nothing to connect that port with the Windows interface that you use to ping outside world.
of course that will not work...
see replies in:
WorkVisual IO Configuration failed to export to sunrise project
With robots running KSS (non-collaborative robots) one may choose WoV rather easily.
When it comes to Sunrise OS, one must use specific WoV version - VERY specific. It is not enough to use SOME 5.0 version. It need to be exact version WoV for YOUR version of SunriseOS so you better check all four version numbers (like 5.0.2.313).
WoV must be installed and configured correctly before use:
1. Make sure it is installed in correct environment (Windows OS). WoV versions after 4.0.27 or so are compatible with Windows10, earlier version are not. As mentioned in documentation, WoV 5.0.2.313 is compatible with Win10, but this version had a bug and need patch applied after installation. both WoV and patch can be obtained from KUKA.
2. Extract WoV installer then move it into a folder with short path. (C:\temp or C:\install)
3. install by running EXE, not MSI
4. after installation apply mentioned patch (instructions are included). Basically replace few files in two folders in WoV installation directory.
5. Before WoV can be used, you must integrate Sunrise.KOP that is in your Sunrise Work Bench. start WoV without anything open, then use menu Extras, Kuka Option Packages...
6. if you are planning to add some I/O or whatever devices, integrate device description files for those devices (for example EK1100, EL1809, EL2809 etc.)
And NOW your WoV is finally ready for use....
If you have a problem, make sure to follow all steps exactly, If asking for help, make sure to post all details:
Exact WinOS version
Exact WoV version
Exact SWB version
Exact options installed
etc.