Posts by Leon

  • Aborting the cell program and reloading it.

    Quote from newuserpl123

    I want to be able to restart Cell when I don't have MoveEnable, ExtStart etc signals.

    Not possible, MoveEnable,DrivesOn and Extstart are necessary to be able to start.

    Quote from newuserpl123

    the Cell does not restart and the program continues.

    which program continues if cell is stopped? How is cell stopped? why isn't it looping and waiting for commands from the PLC?


    Quote from newuserpl123

    Is the only option left is to restart the program from SPS with CWRITE commands(STOP>CANCEL>RUN)?

    It is possible, the question is it necessary? If have been through your post several times and i have still trouble understanding what happened to the robot that you have to restart Cell.


    Also it would be nice if you mention what type of controller you are working with (KRC2,KRC4 or KRC5) with the KSS version as stated in the "Read first" topic.

  • PTP Axis 6 limit with singularity

    it has been years since i have used inline forms, but they should save each position with the status and turn information.

    Simplest solution is add more points where the singularity is. Basically tell the robot more exactly how to navigate it best. this way it should not "flip a6" in its final position

    there are probably better solutions but without seeing the actual movement that is going to be hard to recommend something. best would be to either avoid or at the least increase the distance to the singularity.

    Quote from Joeri

    is there a way to lock the configuration of axis 6 or is there a better way to work around this problem. I want to learn on how to do this better if i ever come across this problem again.

    not while using PTP moves. PTP moves from point A to point B in the fastest way possible. With LIN and CIRC moves there are options because they are path orientated. Depending on your KSS version you also have access to spline motions, that also has some options.

  • PTP Axis 6 limit with singularity

    and your question is?

    if you want an answer to your problem you already gave it yourself:

    Quote from Joeri

    Because of poor preparation in tooling and positioning it has to move through singularity at a certain height of the stack

    but is suspect that is not the answer you are looking for :winking_face:

    if you question is why does LIN moves work where PTP fail. that is pretty simple. with LIN moves you force the arm past the singularity (at a reduced speed so A4 and A6 don't overspeed)

    With PTP moves this can become a bit trickier depending on how you program it. For PTP moves status and turn are used to determine in what orientation the arm ends up. How are you programming your robot? with inline forms or straight KRL?

  • KUKA KR C4 Compact; External EMERGENCY STOP

    Contacts should be normally closed in use (if nothing is wired the robot should not move, when using a safety relay these are normally open which you have)

    whas this system working before, or is this a new system?

    when you wired the contacts did you reset the system (emergency contacts have to close at the exact same time, look up dual channel emergency stop systems)? there is an option for that in the menu on the teach pendant. should be under "start-up" and then "service" (i work in a different language so the words may be different).

  • Information About KRC2

    Quote from Rayid

    By multitasking, I mean a robot with three workstations, with start buttons on each one, calling different programs to execute different tasks.

    lookup automatic external. this is the way to control any kuka robot with external controls. Simple functions can be done with pushbuttons, but for more complicated program selection some sort of PLC is required.

  • KRC5 drawbacks versus KRC4

    Quote from robot-cnc

    I read That it can be also used in Ethercat with EK1100 for I/O commands even it looks so compact that I cannot imagine where these Beckhoff modules can be placed

    i just installed a KRC5. The EK1100 is mounted in the top half of the enclosure. That part is empty when you only have just the 6-axis robot. if you have more axis i suppose the EK1100 has to be mounted externally, but i have no experience with that.

    i switched from KRC2 directly to KRC5, i skipped the KRC4 completely. My biggest problem was workvisual, but that was all down to lack of knowledge. Since KRC4 is configured the same i don't think you will have much problems.

  • Another question about move smoothing

    could you post your actual program? or just that part of it? you say you are using spline's (SPTP). are you using them in a spline block? Details matter.

    When it comes to spline i am no expert, some other people here are much more knowledgeable about that then me. so if you post your code they might be able to see what might be causing the problem.

  • Safety wiring problem for krc2E2D5 robot

    Quote from amirazaditabar

    Can I take the hard drive from the other cabinets and get a copy or image from it? Is this possible?

    Only if it is the exact same model, and it is running the same software version.

    Quote from amirazaditabar

    (kr210 krc2 ed5)

    also try to use the right terminology a vkrc2 is not the same as a krc2 ed05. since this entire topic is talking about a vkrc2 it is not helpful to mention that you have more of the same model and then writing a different type. Either you wrote the wrong type in your post or they are not the same models.

  • Safety wiring problem for krc2E2D5 robot

    Well i my opinion you have made a bit difficult for yourself. what you have now is a clean install of presumably a version vss. This means you have to set-up everything. Selecting right mada, activating right drivers for I/O. stuff like that. I am no expert when it comes to this especially when vss is involved, so i can't help with that.

    My recommendation is restore your back-up. if it was moving i see no need to reinstall the software

  • Safety wiring problem for krc2E2D5 robot

    in your pictures i can see "External emergency stop pressed". So your wiring of E-stops is not correct.

    i use these bridges in XS2 (this excludes Safeguard):

    A1-B3 Estop B
    A2-B4 Estop B
    A3-B1 Estop A
    A4-B2 Estop A
    A5-F1 +24v internal
    A6-F2 -0v internal

    Quote from amirazaditabar

    3.There are only two modes on my touchpad, T1 and hand gesture. How is this different from four-mode robots?

    You have manual mode (T1 and T2, accessible through E2/E7 contacts in XS2) and Automatic external. Normal automatic is missing on VKRC models.

    Quote from amirazaditabar

    4.When I enter the User Group menu and User menu, I don't have the option to choose as an expert, programmer, or user.

    Yes, for VSS (the software for VKRC controllers) you need a physical key. This can be a CD or USB. if this wasn't supplied with the robot you can ask Kuka.

  • Analog Input Value from SPS loop

    can you show your actual code? it makes it a lot easier to debug what is going on.

    For example i have my linear velocity linked to outputs so i can read it in an external PLC:

    Code
    ;variable declaration (in my case in #config.dat)
SIGNAL Vel_lin_current $out[49]  TO $out[64]

;writing a value to it: (in the sps.sub)
vel_lin_current = $vel_act * 1000

    In my case writing is performed in the SPS, so this has no influence on motion. So if you are writing values between motion command and your seeing an interpolation stop, then it has to be something in your code. It is only impossible to know without seeing the actual code.

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