Sorry for the lack of information, we are working with a vkrc2 which has been updated to ks 4.97. So it is basically a krc 2 now with slightly different hardware
Posts by Leon
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hy guys, i am back with yet more questions.
I have mounted a milling machine to our robot, and this machine needs to be monitored for faults like temperature and if the tool is clamped in the right way. By my understanding the best way would be to use the submit interpreter for this. Only i have never worked with this and i cant find much on the subject. It isn't mentioned in the expert programming manual or any other manual i can find here. Can someone help me get started. I am not completely new to programming so when i know where to find the file and a bit of syntax and i should have enough to get started.
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That was the trick, thanks. i have seen many different ways of defining a base and this one works.
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I have a problem with moving relative to a base. When i make a program where i teach points (PTP,LIN and CIRC) i can select the base to be used in my case base[1]. what i want to do now is move to a predefined point using the PTP command without teaching it so for example:
PTP {pos:x 100, y 100,z 200,a 0,b 90,c 45}
This i can do with no problems, but how do i define that those coordinates are based on the predefined base[1] which i measured before and is now named Base[1]:gep2ringen. when i try to move to this point it will move relative to WORLD and not the base i want.
I tried different ways based on what i have read in the expert programming manual but nothing i do seems to work.
I am working with a KRC2 controller version 5.2 -
This time not a post with questions, but just to show what we have done with an old used robot. It has been of couple of months of banging my head against the wall . but it all finally works like i want. At the moment we are working with a small 1kw millingmotor but in 2 weeks that will be replaced with a bigger motor and the ability to automatically change tools.
I have put a small video on youtube of the first program for the one of the first products the robot has to make. I left the product out of de video but is like a small box where the top has to milled of.
Kuka robot milling
In the video you see the milling program and the move from and to the homeposition. When the de robot stops at the homeposistion it will trigger a switch and the doors to the machine open automatically. The operator can then remove the product(s) and replace those with new ones and the program starts again.If there are people interested, i could post some more of the progress. But for now i want the thank all the people on this forum who have helped me to get this far.
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thanks i will remember that one for the next time.
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I finally got the time to check all the wiring, turns out one of the resistors was broken. Replaced it and everything is working perfectly. thanks for the help.
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I was looking for a software problem, but it could also so be hardware problem judging on your reaction. It would be so much easier if the error message told exactly what is going wrong. I am going to check all the wiring again and if that doesn't help i will check back here. Thanks for the help.
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Just started mounting a device net module in to the robot. when i activate the devicenet driver in IOSYS.ini i get a driver configuration error. Could there be something wrong with the driver file? Or more likely am i doing something wrong in the settings?
I changed the devnet.ini to:
[krc]
DEBUG=0
BAUDRATE=500[1]
macid=4and in the IOSYS.INI i activated the driver and i have added under [DEVNET]:
INW0=4,0,x1
OUTW0=4,0,x1
(16x in and 16x out)If i am correct these are the only changes that have to be made to activate the devicenet, But even at something this simple i am able to make mistakes.
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That is exactly what i was looking for.
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I am looking for some suggestions for setting up a I/O module. I am working with a Vkrc2 control cabinet that doesnt have any I/O ports only the option of using devicenet or interbus. Because of Vkrc cabinet there also isn't the option to switch to automatic mode, only to automatic external. If i am correct i need a minimal of 4 input signals to start an automatic program. 1. clear error messages 2. drive enable 3. start program and 4. allow movement. some extra in and outputs could also be useful but isn't a priority right now.
I don't have much experience in using device net or interbus so i would like to know what you suggest. what kind of I/O module, using devicenet or interbus. any help you can give is much appreciated.
small note: I am working with a Vkrc cabinet but the software is the standard software for the krc2
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I have contacted Kuka about my problems and they tould me to wire XS2 like this:
A1-B3
A2-B4
A3-B1
A4-B2
A5-F1
A6-F2I never wired A5 and A6 but this solved the ESC errors. To be clear if someone else ever needs this. this is the XS2 wiring for VkRC with the Audi exstension. (recognizable by the presence of XS5) In XS5 D7-D8 and D9-D10 can be bridged to get to the T1 mode.
After wiring it like this, i was able to move the robot and most of the other errors are gone. The HW_INF.ini error is still there, but it doesn't seem to make a difference and the robot works just fine.
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I went to the monitor tab for the ESC. there was nothing to see and in the bott0m was this error message:
Major error, program stopped
safety system could not be initialized
ESCDiagInitFailedinfo
This explains why wiring the external emergency stop didn't have any affect.
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I have checked the DSE. the green light is on and the error is gone, i don't know where it has gone or what fixed it but i am not complaining. Also the Emz error and the powermodule error are also gone. cleary something has changed but i don't know what.
So the remaining errors:
1024 Error reading ini-file: HW_INF.ini
1 Emergency off
20 External Emergency off
200 Drives not readyI added pictures of the cabinet, and the DSE card in the robot.
Also i found a folder on the D drive of the PC called Kuka vkrc_CD1. in the folder are several setup files. Can i use this to make a clean install of software or is more needed?I am still working on the emergency stop errors, still no idea what is going wrong there.
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First of thanks everyone with the help so far.
I haven been working with the robot for the last few days, but i still can't get it to move. I used panic mode advice to change the interbus settings and this worked. The interbus errors are gone. Unfortunally like always you get rid of one and two more take it's place.The errors that i have got now:
- 55 DSE initialisation
- 1024 Error reading ini-file: HW_INF.ini
- 223 Power Module as E1 Not/wrong connected (inside the cabinet al ligths are blinking green so i dont know what is wrong here.)
- 208 M_208
- 1 Emergency off
- 20 External Emergency off
- 200 Drives not ready
- 0 (EMZ) kein lebensbit vom EMZ1: Bus pruefen
1,20,200 and 208 ar al because of the emergency stop not being connected. I have tried wiring it, but i haven't had any succes with that.
If I am correct 24V has to be supplied to A2,A4,B2 and B4. Then B5 and B6 should be linked together, and B7 and B8. The 24V kan be suppield by B1,B3 or F1. I am using F1 for now. I am not using any emergency stop buttons for now (except the one on the control panel). When everthing functions i am going to build a permanent set-up with gates and fences so it would be safe to be around.
I added the drawings i got in the attachments so maybe someone can see what i am doing wrong.In reply to Markopo: We are using the VKRC KSS. is there a way to only remove the VW packs? I don't have the CD-roms to make a new install.
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;==========================================================
; IOSYS.INI - Configuration file for the IO-System
;==========================================================Do you know where i can find this file? I can't get back to windows to look for it there. is there a way to find the file in the Kuka software?
I can only get in to the lowest usergroup, so i don't have acces to expert or administrator is this needed? -
thanks for the help, as soon as i have time i am going to try it. also i need to correct something the robot is a vkrc. So X11 isn't there it is XS2. but other than that it shouldn't make a difference.
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I have acquired a used kuka kr 150 with a C2 controller and unfortunately i can't get it to function. The robot boots up fine and seems to load the right program. but when it is al done i have a list of errors that dint go away. and i can't do anything with the robot.
- error 1034 Error writing to interbus
- error 1033 Error writing reading inderbus
- error 205 Software end A2
- error 1 Emergency stop off
- error 20 External emergency stop off
- error 200 Drives not ready
- error 0 Zange auf unzalaessiger position
the first two i can easily explain. the robot used to be a welding robot that communicated with the welding controller through the interbus. those systems haven been cut from the machine. the only remaining part is the interbus card in the computer.
the software end isn't a problem because the axis is at is end position.
Both the emergency stop errors i don't understand. the emergency stop button on the teach panel isn't pressed and the external stop isn't attached. I have tried attaching a switch to the external emergency stop but the error doesn't go away.
The last one is the problem i think, only i have no idea what it is.Unfortunately the robot came without manuals or anything like it so i don't know where to start. if there is anybody familiar to this problems or has other suggestions please do. for now i want to be able to manually move the robot, but for the long term plan is to convert the robot to a milling robot with multiple workstations.