Posts by panic mode

  • how to achieve constant velocity at base origin

    if TCP of robot guided tool is closer to robot flange, and robot is commanded to go to same fixed point, robot will move closer to that point to compensate for shorter tool (programmed point will bring any TCP to same point). by feeding new TCP data and sending robot to same point, robot will do all the work of "threading the needle".

  • X12 et X41 KR C4 COMPACT

    X12 comes in different versions (Beckhoff IO or IOB-16-16B)
    X41 is not on controller, it is on Agilus robot arm.



    either way, check documentation. topic READ FIRST explains where to find it.

  • question about kuka profinet and profibus

    Note, when buying ProfiNet for KRC4, you need to pick either device only (slave only), or controller+device (master or slave or both). first one is cheaper but it cannot ast as master. KLI port is used for ProfiNet.



    IF you are planning to use ProfiBus on KRC4, you still need to chose if KRC4 is going to be master or slave or both:
    EK1100 = EtherCat Bus coupler (conects to EKB, that is either X44 on CCU or X65 if external)
    EL6731 = Profibus master (if robot is to work as Profibus master)
    EL6731-0010 = Profibus slave (if robot is to work as Profibus slave)





    case A:
    ProfiNet with three nodes (PLC, KRC and ET200S), one connection is PLC to KRC and PLC is master. second connection os KRC to ET200S and KRC is master. requires profinet version that is both master and slave. ET200S requires ProfiNet bus coupler.



    case B:
    ProfiNet with three nodes (PLC, KRC and ET200S), PLC is master, both EK200S and KRC4 are slaves to PLC. this can work with ether ProfiNet version (KRC is slave only). however in this case robot does not have direct control of ET200S I/O (PLC must be powered and working as transfering data between ET200S and KRC). ET200S requires ProfiNet bus coupler.



    case C:
    one network is ProfiNet (PLC is master, KRC4 is slave), can use either ProfiNet version (KRC is slave only). second network if profibus (KRC4 is master, ET200S is slave). ET200S requires ProfiBus (DP) bus coupler. KRC4 requires EK1100+EL6731 (master).



    case D:
    ProfiBus network PLC-KRC (KRC requires EK1100+EL6731-0010)
    ProfiNet network KRC-ET200S (KRC4 is master and needs ProfNet version that is master, ET200S needs ProfiNet bus coupler)



    case E:
    ProfiNet network, KRC4 is master, PLC and ET200S are slaves (KRC4 is master and needs ProfNet version that is master, ET200S needs ProfiNet bus coupler)



    case F,G, H.....





    basically you can mix and match whatever you like...





    Note DP coupler is needed if bus segment is too long for selected baud rate or when there are more nodes than one segment can handle (32).

  • how to achieve constant velocity at base origin

    external TCP just swaps tool and base so part carried by robot becomes workpiece and external TCP is a base.
    TCP allows for convenient rotation about point. i dont see how this would change things as you still need to move workpiece relative to it.
    how about keeping things as they are (stationaty base and tcp is on product) but keep recalculating TCP using model data for product?



    since the part is not straight rod you need to know the shape in one way or another (cad, polynomial expression, learned, manually taught or whatever). since all parts seem to be same (at least in one batch) and they in one plane, learning could be a good way to get the shape profile fairly quickly (much faster than any other method) - only need a sensor and few lines of code.

  • Send status message code to PLC

    To display KUKA messages, you need to be able to extract them (using KRmsgNet). But that may not be needed...
    To simply show that robot could use a BCO, there is a system variable for that $MOVE_BCO. Read system variable manual...



    Also handy - get messages manual from the download section of the forum (it is for KRC2 but that does not matter)

  • krc 4 configuration

    [size=1.35em]you seriously need to [/size][size=medium]stop posting 100 emoji, i am working with others to keep this clean and tidy. [/size][size=medium]this is a serious place and meant to help people who have question about robots - don't abuse it. this is not Facebook, anything unsolicited is spam.[/size]

  • Cold start

    what IS your issue?



    a) boot type? boot type is selectable from menu. to make a permanent selection user registry file in C:\KRC\UTIL\REGUTIL



    b) controller shuts down instantly when disconnect is turned off? you check battery how? what is the voltage? did you check fuses?...



    what is the history of the unit? was it working fine and one day just stopped or it was powered off for days?

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