check the safety jumpers in the estop board looks like the connection for the NTED switch and estop might not be working and probably knocked out a fuse.
Posts by Iprogram
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What method are you using? If doing a single axis master then its possible that the axis needs to move in joint first before mastering is allowed to happen.
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Good Morning.
I would like to try to use the dashboard server in a CB3 robot from an AB compact logix L16 but having some issues. has anyone done this?
I could use some help with setting up the socket create ect.Thanks!
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Thanks!
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I want to have an operator assigned variable to answer yes or no to a question in the text i want to display the value of a variable. something like this:
There are 24 parts left do you want to continue? Where "24" would be the value of a variable called Parts. I tried this but it faults for boolean requested
There are "Parts" parts left do you want to continue?
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If you want to move relative to the frame of Plane_1 you need to use that in your pose_add, not the waypoint which is giving you coordinates relative to the Base frame of reference.When you define the plane you can check the box for use as a variable, there will automatically be a variable in the list called something like Plane_1_var that can be used in pose_add and pose_trans
To think about the difference between the two functions, pose_add works in the base frame of reference for x,y,z and pose_trans works in the frame of reference for whatever feature you are using in the formula. Often times the frame of the point does not line up with the base so it depends on how you are trying to move.
Generally if I am trying to move relative to a plane I’m using pose_trans as I want all motion to be dictated by the axes of the plane. You do have to understand how to set the plane points to get the correct axes and UR changed that math around 3.7. Originally planes were defined as the +Y axis was the first two points and then the third point defined +X so you could then derive the +Z axis using the right hand rule. Starting with, I believe, 3.7 they changed that to be the X axis is defined by the first two points and the third point sets the +Y axis. This does make for differences in how you use the planes. However, planes taught in previous versions maintain the orientation they had previously so no worry that code would react differently on upgrade.
Sent from my iPhone using Tapatalk
Thank you now it works the way i need it to!
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I have a simple application where i will have a tray of parts that i will be picking from with a few rows and a few columns. I am trying to do it so the guy setting it up in the field can teach a plane and its good to go. The frame manipulation doesnt seem to work the way i would think it should.
I read the manual but i didnt see much in there showing what the difference was of the Pose_add, Pose_trans ect. but basically i want to only record the first pick position and offset the frame for every other pick. seems simple enough but when i record my first way point i have it set in the move statement of Feature "Plane_1" it doesnt go to the correct spot when i set the feature to Base it goes where i would expect it to.
Attached is a small sample code. I would think that Plane_1 would be actual coordinates but how do i get Posvar into a position based on the Frame i taught? I would think it would be represented as p[.1,0,0,0,0,0]
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You have to assign the waypoint to a variable before you can use it in a formula like that.Sent from my iPhone using Tapatalk
Ok that makes sense thanks!!
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I am trying to use the pos_Add feature but it doesnt seem to work(or i dont know how to use it)
Attached is what i have but when i run the program it tells me that 'Pick' is not defined. Pick is a waypoint that i taught and Offset100 is a variable that i created in the before start. -
Anyone know of a place i can purchase as1 and as2 cables already soldered together? I hate soldering this cables!!!
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EKI is the "short nickname" for EthernetKRLXML, an option package from KUKA to make it possible to send and receive data over TCP/IP connections, similar to a Telnet session between computers.Some PLCs can work with data transfers of this kind, but some can't, and others can only do it with a particular Ethernet I/O card connected. It can be a bit tricky, though. Most often, EKI is used for connecting a KRC to a PC-based application, since that usually seems to be easier than connecting a regular PC to most industrial FieldBusses.
Ok thanks for the information, looks like i will be stuck doing it the old way.
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Depends on what connection you have between your KRC and PLC. At the high end, you could use EKI to send massive amounts of data packed into XML formatting.At the simplest end, you could assign any number of 16-bit or 32-bit SIGNAL declarations and simply read/write values to/from them as your program executes. Simple, but would use a lot of I/O bits. But the robot can support a few thousand I/O, so your FieldBus connection or PLC would be the limiting factor.
SIGNAL declarations in KRL are all Unsigned Integer, unless defined as 32bit, in which case they become Signed Integer. You can carry out conversion using IEEE-732 if you need to send/receive REALs, or simply use mulitply/divide by 10, 100, 1000, etc, on both ends to perform a simple movement of the decimal point.
If you're limited on I/O for some reason, you could create an array and iteratively push/pull data into it over a smaller number of I/O bits. Something like:
CodeDECL INT _nIndex SIGNAL O_Index $OUT[1] TO $OUT[32] SIGNAL O_Value $OUT[33] TO $OUT[64] DECL INT iArray[100] ; fill array here FOR _nIndex = 1 TO 100 O_Index = _nIndex O_Value = iArray[_nIndex] WAIT SEC 0.048 ENDFOR
That's awfully bare-bones, but the basic idea is simple enough.
I will be using ethernet to the plc. I was thinking of doing it the way you show just wasnt sure if there was an easier way.
What exactally is EKI? -
Hello everyone! I have limited experience with kuka and i am slowly working to change that! I have a project where i need to pass data from a recipe stored in the plc to the robots. In the past i did this with a fanuc and i could do a message from the plc dirctly into the robot registers to populate them. I can it with the kuka using bcd and IO but to me it seems like there is an easier way. I want to pass INT and REAL data then store it in variables in the robot. I would approximate that i would be sending around 100 different INT or REAL and then sometimes I would be sending INT or REAL back to the PLC for production status. Like total boxes packed ect.
Does anyone have a clean way to do this?
Thanks
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i recently activated a copy of Fanuc PalletPro and when i try to push the run button i can select which unit load i want but then i get the attached error? Has anyone seen this or know how to get around it?
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Hello all. I am new to KUKA and wondering what software option KUKA uses to allow two robots to work in the same space and monitor each other. I did a project similar with Fanuc and its called interference check or space check. Curious what i will need to do the same thing but with KUKA robots. Thanks!!
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I wouldnt do it using KAREL i would just lock the position register using a lock command and monitor the position in BG logic and always write the correct position to it.
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I have never set up an IO link between two robots. I have only setup Ethernet communication between two robots. I thought that IO link was only for Model A or B IO. What types of Communication do you have available?
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Great thanks I will give it a try!
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Probably is this what you are looking for:Check it out and give your feedback please...
do you work for this company?
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Hello,
I am just getting into UR and wondering what everyone thinks of the different simulation software available? I am a Fanuc Guy for 15 years and use Handling Tool to write most of my programs offline and also record simulations to present to the customer. I am looking for something similar for UR. I want the software to be able to represent the actual robot as close as possible. I would like to be able to load programs enter payloads run the simulation and get a close to real world time. then take the programs and load them into a real system. It looks like they have OCTOPUZ that will work but i also see some other ones that look similar. Not sure what the difference is.
Thanks