1. connect everything (X20-X30, X21-X31, teach pendant...)
2. check safety interface (X11) and make sure to have correct connections
3. power up....
4. does it boot up? what are the messages?
Posts by panic mode
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isn't this the same thing:
https://www.robot-forum.com/robotforum/kuka-robot-forum/kss00070-no-more-user-memory-available/
I see that TRACE folder again...
Simple solution is to restore backup image using Recovery USB Stick but ... i would be surprised if someone actually created that backup before making changes to the system. Do you have recovery stick?
Another option is to get someone (knowledgeable) to fix this. Is there a nearby KUKA tech? He/She will have right tools and skill to get you out of this.[/size]My guess is that someone pasted (or dragged) folders to wrong location. Either way, if you are considering doing something about it yourself I would say:
1. MAKE FULL BACKUP NOW - yes i know your system is already a mess, but i am confident you are capable of making so much more . so... at least make sure to be able to get back to THIS state
2. PLAN before you do anything (ask yourself how can each of your actions be reverted and get you back to previous state)
3. It may be a simple fix too... Generate list of all files and directories for comparison with other robots. For example try command line like "DIR C:\KRC\ROBOTER\*.* /S > D:\KRC_FILES.TXT", and post it here and wait for help.
Also you may try to replace WoV project directly from HMI (do not use WorkVisual). Make a copy of Base project (if not altered yet) and activate it. Then login as expert and delete C:\KRC\ROBOTER\KRC\R1\TRACE and reboot. If you still see KRC:\R1\TRACE after reboot, your CURRENT WoV project(s) are corrupt
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yes, you must have ONE safety interface - no more, no less.
you cannot have both X11 and ProfiSafe.If you have controller that was originally equipped with X11, then you must either :
a) remove it completely (requires installing X311 jumper plug in CCU)
b) leave it in, but wire jumpers for external enabling switch (does same job as X311 jumper plug) -
payload is one thing to watch for. your robot is only rated for 6kg and if the tool changer weighs 5kg, there is not much room left for your tool and payload or process forces.
next would services used and transferred.
used services are those to activate deactivate tool changer (normally compressed air).
transferred one are all signals (electric, penumatic etc) that need to be shared through this tool changer. -
why guess? Write program, run it and record acceleration... then you KNOW the values.
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Did you consider recording acceleration value during motion?
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what kind of accuracy do you expect? 1mm, 1cm?
i am asking because that is an older robot and it has long reach.
have not used KRC1 in ages so cant tell about RS232 (from what i know it is fine).
DeviceNet can be simpler to setup and you have ready interface on MFC board. This must be master so you will need to find a DeviceNet slave solution for your computer. -
[size=2]
KRC: drive is RAM drive with limited space...
get rid of [/size]KRC:\R1\TRACE folder... and any files you may have introduced... traces can take a lot of space.
red exclamation points tell that those files did not get compiled (run out of resources before getting to compile them). -
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Please read READ FIRST
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COM1 and COM2 are on the motherboard (between USB ports and LPT port).
COM3 is next to A32 -
you should:
1. connect to controller using KLI or KSI
2. get working project from controller into WoV (WorkVisual)
3. save project
4. save it again as new file name (so you don't overwrite what is on controller)
5. modify it as you feel fit
6. make sure to login as Expert or higher before deploying
7. deploy and activatethis way you still have original WoV untouched and if version you made is not ok for whatever reason, you can just activate previous version (no need to deploy, already on controller).
also this is safer than merging. note, if changes you made involve safety, any change will result in new checksum. this means that activation will need second step - activation of afety configuration (here it is not enough to be expert or admin, you must login using one of Safety accounts) -
please read sticky READ FIRST
https://www.robot-forum.com/robotforum/kuk…rum/read-first/ -
is the USB cable from KPC to PMB (CCU) ok and plugged in correctly?
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backup manager can do up to 50 backups and save it locally - no tweaks needed.
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sigh... if it was OR, flying pigs would be soon enough...
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[size=2]yes,[/size]
[size=2]write one yourself...[/size]
[size=2]for example:[/size][size=2]
DEFFCT INT MyEnum_to_Int(x:in)[/size]
[size=2] DECL MyEnum_T x[/size]
[size=2] DECL INT n[/size]
[size=2] Switch x[/size]
[size=2] Case #none[/size]
[size=2] n=0[/size]
[size=2] Case #one[/size]
[size=2] n=1 [/size]
[size=2] Case #both[/size]
[size=2] n=2[/size]
[size=2] Case #neither[/size]
[size=2] n=3[/size]
[size=2] Default[/size]
[size=2] n=-1[/size]
[size=2] endswitch[/size]
[size=2] return n[/size]
[size=2]ENDFCT [/size] -
posting message here does not constitute contacting Kuka. this site is not operated by Kuka even if Kuka employees choose to stop by...
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[size=1em]what is the wrong way?
if enabling switch is not on, drive icon can be [/size]"O" or "I" ... but letter does not matter... it will be gray.
if you press enabling switch, and everything is ok, it will turn green and drives are on.
if you press too much, "I" will change to "O" (gray). just release then press again.do you get any messages? when you click on drive icon, window will open up with buttons "I", "O" and four indicators. what do they show?
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[size=1em]
Should I calibrate the robot as the robot mounted on a linear unit after making change?
And, should I change the parameter $axis_type[7] in machine.dat from 3(ROTATORICH) to 1(LINEAR)?
[/size][size=1em]
no and no,
just test the transform like for linear rail....(jog E1 and see if TCP stays in place). if not your setup is wrong.
[/size]After making changes in machine.dat (EX_KIN $EX_KIN={ET1 #ERSYS,ET2 #EASYS,ET3 #EBSYS,ET4 #NONE,ET5 #NONE,ET6 #NONE} and FRAME $ET1_TPINFL={X 1600.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ) Z direction of the robot in the world coordinate system became horizontal.
you need to read Configuration of Kinematic Systems
$EX_KIN is automatically set by WoV
where did 1600mm for $ET1_TPINFL.X come from?
also compare last pictures in original post and my first response.
apparently WorkVisual adds 90deg rotation about X which i did not notice (ET1_TAKR1.C is not zero)...
that is why your Z axis ends up horizontal