No mention if the robot is mounted on slide or what KSS version it runs?
Here is version for KSS5.6.11 and floor mounted robot with no slide...
Posts by panic mode
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normally recovery is something left for operators but if you want to, you can write program that checks robot position and type of tool and carefully returns to a home position. path recovery is one of subjects covered in expert programming classes. of course doing this requires knowing robot and system well enough (setup workzones for example, know tool axes, KRL programming etc.)
once you have recovery program complete, you get to choose how to call it.
since you don't want operator to select and run it, you only have to choose between using AutoExternal mode or adding code in Submit (for Auto Mode). -
it seem to be common problem with posts in this forum, people fail to mention controller and KSS version right away.
for KRC4 configuration of external axis (like everything else) is done through Work Visual - version depends on KSS.
for KSS greater than KSS8.2.7, it is WoV 2.4.6 build 98 or WoV 3.0.x
For KSS 8.3.x it is WoV3.0.6 build 113 or greater. -
I would say do the quick and easy things first - check supply connector and measure voltage (27.1V?)
if that does not help, something like this should:
1. connect external monitor keyboard and mouse
2. use USB recovery stick to boot in GUI mode and backup all your programs and settings
3. make backup image of current (although defunct) hdd
4. load back the original image
5. restore programs and settings made in step2 -
gripload specifies load at the tool. on kuka there are different ways to enter load data (direct entry - numeric or running LoadDetermination software).
geometric operator is : (colon)
you can just type them all in if you are logged in as expert
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I seriously doubt this has to do with UV radiation
UV is easily blocked by some sunscreen or tinted glasses. Materials used for cabinet are a bit less transparent.I would check power source, grounding and fieldbus between robot and welder.
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I would also teach base... (your screenshot shows base[0] which is nullframe or World).
by using your own base, you can quickly recover from things like moved tooling for example, no need to re-teach all points. -
T1 mode allows this. It is required that drives are enabled (press enabling switch or "deadman"). If robot is not wired yet, unplug X11 and use Start-Up mode. This means login as Expert (Menu>Configure>User Group) and then enable startup mode (Menu>Startup>Services>Startup mode). On KSS8.3 unplugging of X11 may not be required.
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your settings look ok if:
- the devicenet driver is uncommented,
- the salve node is really using address 4
- slave is also configured for baud rate of 500kbps
- slave has status/diagnostic byte at the end of the process image.some nodes are 'smart' and autodetect baudrate but on occasion that did not work for me so setting baud=125 was the only way to get them to work. never had problem with nodes that allow manually setting baud rate. another thing to note is that some slaves may have status/diagnostic appear first, then you need to adjust mapping by introducing offset.
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I have done profibus network with two KRC2 robots and S7-317F recently and although I didn't touch Siemens PLC in couple of years, it was a breeze.
All software/hardware was by customer but they had problem with old guy leaving and new one was fresh from college and had zero exposure to Siemens and Kuka. I wanted to go home so with their permission, I stepped in...1. ripped out all profibus cables and made new ones (it is sooo simple and yet, you would not believe what some people do) (*)
2. connected them correctly (**)
3. configured both robots to be profibus slaves (with unique addresses of course)
4. imported Kuka GSD file for CP5614 (you want to use one from Kuka, not one from Siemens, they are different)
5. created PLC project from scratch, (got rid of old one, disabled safety option because that is something they can do after i'm gone, I configured it as standard CPU) (***)
6. inserted new MMC (one not contaminated with safety) and downloaded project to CPU
7. wrote programs on both robots to send data to each other through profibus (in the plc added couple of blocks to copy data from one robot to another)about point 1... (*)
I keep finding more cases where:
1. people are ignorant and put red and green wires backwards despite color coding
2. they strip wires before terminating/closing terminals (having insulation is rather important when using profibus connectors with insulation displacement terminals)
3. they do not expose/connect shield
4. they do not pay attention to IN/OUT
5. they do not terminate correctlyabout point 2... (**)
profibus network like any other bus network is based on 485 and needs terminating resistors. terminators are to be installed at the ends of the bus. in case of profibus, terminators are part of the connector and need to be turned on by moving little red switch. in this case there was three nodes (robot1, robot2, plc) so terminator was active at robot1 and plc but not at robot2. another thing to keep in mind is that connectors have two ports (A1B1 and A2B2 or "IN" and "OUT"). it is important to make sure that only IN is used at end nodes because when terminator is enabled, OUT is disconnected. the other important detail is that on nodes that have two cables connecting to same connector (here that was robot2), it still matters which one goes to IN and which to OUT (if you are smart). it is a good idea to always connect to IN cable that is going to or toward PLC. this allows you to terminate any point on network and disconnect any part of bus while keeping bus segment at/around PLC intact. this way you can test your configuration and gradually add more nodes simply by flicking terminator switch...about point 5 (***)
Insert Kuka CP5614A2 (under Other or just search for “kuka” in hardware catalog)sorry, don't have Step7 project or software to make a sample hardware config...
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DeviceNet using only MFC has few limitations:
- MFC can only be devicenet master
- MFC is always node 0 (macid=0)
- does not support couplingother than that, it works just fine. I don't remember having any issue with adding PLC as a slave, just make sure that address, baud rate and mapping are valid.
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cross on krc4?
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Ok, KRC1 and KRC2 are different (fact) but as far as menu navigation goes, they are .... well... close enough. I do not have access to KRC1 to make/verify exact steps - I'm afraid that is something you will have to do on your own or wait for someone else to chime in. I only get to see KRC1 controller maybe once in a few years, everything I get to deal with these days is KRC4 and occasional KRC2.
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you can make program that when executed will update home position to whatever you normally use such as
xHOME = {A1 0, A2 -90, A3 90, A4 0, A5 0, A6 0}
if position ever changes, just run program with such line to update it
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sounds like what you see is a part of inline form motion instruction (PTP, LIN,...)
tool names can be edited of course, you can access it when teaching tool or by editing $config.dat:Code
Display MoreDECL CHAR TOOL_NAME[16,24] TOOL_NAME[1,]="Case Gripper" TOOL_NAME[2,]="Beer Opener" TOOL_NAME[3,]="BBQ skewer" TOOL_NAME[4,]=" " TOOL_NAME[5,]=" " TOOL_NAME[6,]=" " TOOL_NAME[7,]=" " TOOL_NAME[8,]=" " TOOL_NAME[9,]=" " TOOL_NAME[10,]=" " TOOL_NAME[11,]=" " TOOL_NAME[12,]=" " TOOL_NAME[13,]=" " TOOL_NAME[14,]=" " TOOL_NAME[15,]=" " TOOL_NAME[16,]=" "
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one way:
1. create backup archive (only need to backup current program files)
2. restore original archive (containing machine data for YOUR robot)
3. perform cold boot
4. restore programs only ("applications") from backup archivesecond way:
1. login as expert
2. create backup archive (just in case)
3. cancel Submit Interpreter ("S" must be gray)
4. navigate to D:\KRC1_CD\Internat\mada\krc2\... and select correct files for your robot (folder "R1" if robot without linear slide)
5. select and copy two files ($machine.dat and $robcor.dat)
6. paste them to a KRC:\R1\MADA (owerwrite existing ones)
7. start Submit and perform Cold Boot.cold boot on KRC2 is done as follows:
- go to menu Configure, On/Off Options, Start Types
- using arrow key Up bring focus to Cold Boot
- press SPACE (do NOT press yellow Enter Key)
- message shall appear that "next start will be Cold Boot"
- power off robot and wait 15 seconds before power-up -
"But no input/output available on EIP configurator module"
all signals are mapped through I/O so you need both PLC and robot to have them mapped to own I/O.
on the robot side, use EIP configurator to add and configure same range as on your PLC - if you don't have EDS, use Generic device and specify input and outputs size.cold boot on KRC2 is done as follows:
- go to menu Configure, On/Off Options, Start Types
- using arrow key Up bring focus to Cold Boot
- press SPACE (do NOT press yellow Enter Key)
- message shall appear that "next start will be Cold Boot"
- power off robot and wait 15 seconds before power-up -
if you have KRC4 (KSS8.x) then CREAD/CWRITE can be used to read/write file. there are restrictions though...
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Question was if you performed cold boot, not merely restarted controller.
if EthernetIP driver is enabled in IOSYS, absence of the message 8092 means that EthernetIP card has a configuration (valid or not).
Why do you even bother with port numbers? All configuration on a robot end is done through Configurator. What is the hardware you are trying to interface with robot through EthernetIP? Do you have EDS?
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try this. it is for KRC1, KRC2, KRC2ed05