do you have working communication between KRC4 and ESAB power unit?
was is commissioned completely (including IO setup etc)?
Posts by panic mode
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as i recall, one issue with VRP is that it cannot connect if controller is not in EXT mode. if the mode is already EXT then VRP can connect and be used to change mode...
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i could not find anything on it... sounds like A2 was unmastered. can you try to use T1 mode and switch to axis specific coordinate system? when axis is not mastered, this is the only way to move robot and - only for purpose of mastering or diagnostics. Cartesian coordinates are only usable when:
a) robot is mastered
b) tool is selected
c) base is selected -
profibus card for KRC2 has two independent ports, one is master, one is slave. you can use one or both.
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you need to follow setup instructions in manual, for example you must calibrate camera and set camera base. next you need to record model vector (X,Y, A) etc.
i usually make my own calibration plate that suits the application (full screen coverage, make custom size pattern, change fiducial so Z is up and origin is where i want it etc.).
then when calibration plate is used to calibrate camera, i use pointer tool to measure same base by robot.
then take few pictures with parts in different orientation and location, use them to test your VisionPro project before it is transferred to controller.
if you don't want to bother with math:
place origin on center of trained object (during VPP creation) then when setting up model (on controller) place it so it coincides with origin of the camera base.
then test it and see displacements camera returns.
one important thing is that calibration plate need to be at the level (elevation) of features that camera is recognizing.
for example if you are recognizing cans of soda and camera is overhead, do NOT do calibration with calibration plate a the level of can base. it must be at the can top side (lid - side you are looking at). otherwise scaling will be wrong and robot will go to wrong place to pick it up. -
that is exactly what $MOVE_BCO is for.... if it is true it means BCO is not yet completed...
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be it hardware, or software or wiring or ...?
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soft limits have specific use or function and thats what they do. exceeding limits is abnormal and all abnormal situations lead to halting the robot.
if you want to define space and program robot to be constrained in some space that is regularly violated - without generating halt - just write it yourself. there is plenty of flexibility in KRL.
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normally case like this is related to RDC or data cable X21-X31 (for example many people loose rubber O-ring at one of the connectors, pushed or bent contacts etc). But it may also be due to connection problem or faulty device elsewhere on KCB
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No...
replace person that did sizing and selection
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[size=1em]"Everything is connected" is NO guarantee that all connections are really correct and that they match work visual project.
Ever seen idiocracy movie?[/size]External Content www.youtube.comContent embedded from external sources will not be displayed without your consent.Through the activation of external content, you agree that personal data may be transferred to third party platforms. We have provided more information on this in our privacy policy.[size=1em]Just like in a plc - you CAN assemble valid unit from mix of parts (different processor, variety of communication and IO modules). But if your plc project (software configuration) does [/size]
[size=1em]not EXACTLY match your hardware selection (uses same components, and in same ORDER), your Plc will have NO chance of working correctly....[/size][size=1em]Same applies to robots and WorkVisual configuration. Your project must contain [/size][size=1em]right [/size][size=1em]hardware, [/size][size=1em]right [/size][size=1em]topology for each bus etc. Simply "connecting things" is not enough.[/size]
[size=1em]One Rdc can be used for up to 8 resolvers. This is not enough to connect 6-axis robot and 3-axis positioned (6+3 > so you [/size][size=1em]must [/size][size=1em]in this case have second RDC. There are different ways to connect RDCs and they must each have valid FSoE address.[/size]
[size=1em]Next all axes must be connected to CORRECT ports of RDC. If they get mixed up, all incorrectly connected axes WILL loose mastering. This happens easily on external axes since resolver cables are individual and most people assume it is all plug and play and doing so without training is somehow supposed to still be ok. I would recommend to check motor connections are really correct and once they are - label everything. Swapped axis cables will also cause runaway axis problem and robot will fault after "buzz" or "kick" of all axes.[/size]
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I really need your help with this.
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I would really really appreciate your help!!!P.S: I attach the picture.
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i tried but advice had little effect...
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for the safety configuration, i dont get any notification that there are diferences. The machine data is up to date.i will keep trying to solve the problem
what do you mean you got no notification? did you READ message KSS12032 in your own screenshot?oh well... just keep trying and tell us what you think may fix it...
elevation can be easily measured by tape and entered as $ET1_TA1KR.Z (in example posted by DannyJR, mounting robot on a rail, raised it by 450mm).rotation angle values in transform are more important and - they depend on particular mounting orientation of the robot on a carriage. Kuka rails have carriage that allow up to 8 different mounting orientations, each with own transform. example shared by Danny is just one of those cases.
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Your second issue is MADA mismatch. Login as safety maintenance and go to Safety Configuration ....
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Axis will work correctly but it need to be comissioned fully and correctly...
Reason tcp is not staying is that transform is not correct or that scaling for your linear axis is not correct. First make sure scaling is correct ( if you jog E1 1500mm for example, smartPad shows that it moved 1500mm.
Next use correct transform for E1. This will depend on way robot is mounted onto carriage. -
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".
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here is some code to read, writing is very much the same...
https://www.robot-forum.com/robotforum/kuk…88863/#msg88863 -