What exactly is not working?
Do you have any error messages?
What exactly is not working?
Do you have any error messages?
accelerate slower, beyond that there is not much you can do programming wise.
What system are you working with?
What is the setup of your E2 axis?
Basically $vel.cp is the speed of your TCP, but this can have different meanings when your external axis is kinematically integrated or not.
Do you have the schematics in your controller? it is in there.
There is now way to just turn of "gear torque control" as you put it. In this case and judging by the foto's i think the arm could also be stuck on the calibration point, so your best option is probably to move the arm by hand. And if it is truly stuck that might also be a problem.
We are still missing something here, a normal robot never hits his physical endstops. There are software limits before it. if you where able to move past it someone must have changed them or they where wrong from the start.
Depending on which it is restoring back-up could help or it could not.
As a last resort you should be able to move the arm by hand if you can access the motor of A2 (I have never worked with a KR16 so i dont exactly know how they are put together but i assume it is similar as the bigger models). In this case you have 2 options:
1. Secure the arm and remove the motor. I can not recommend this because you dont seem to have a lot of experience with robots. But after a motor is pulled from the gearbox it should be pretty easy move the arm and place the motor back. in case you go for this option please be mindfull that without an motor installed there is nothing to keep the arm in stationary.
2. Hand crank the motor, by far the easiest way the only drawback is you will damage the brake in the engine.
Before you attempt either make sure that there isn't something else you or your technician missed. any setting you changed or anything you might have been experimenting with.
P2 is relative to POS_ACT
The first thing you need is to figure out how you are going to communicate. Does your KRC2 have I/O installed? or other communication cards?
i am no expert on game controllers but i dont think there is a direct way to connect to KRC, so you are probably going to need something to intermediate between the 2. Then it all depends on what you exactly want to control.
Also you mention you don't have to adhere to safety standards, but i would like to point out that a KR210 (or any industrial robot for that matter) is not something you should discard safety so easily. I recommend that you have at least working emergency buttons and some sort of deadman switch while jogging the robot with your gamepad.
Depends how your communication between the robot and your PLC is set up. Is it straight I/O? or do you have some sort of communication like devicenet or profibus. In case of the latter it is pretty easy to add an extra variable/input to reset your counter.
It could be that your points are to close together to get approximation to work. The first thing i would try is space your point out a little bit and see what that does. what is your setting for the approximation? you say it doesn't matter because the points are closed together, but it still does.
Different mada can be found on the D drive. copy the files from there
which controller?
there is no specific number for what you are asking. Depending on the pose of the robot that amount can change a lot. if you want to push a specific amount you will have to put some kind of force sensor on the robot.
Sure no problem, what is keeping you from achieving your goal?
Please read the "read first" topic, supply all the necessary information and then ask a specific question or describe your problem. don't make us guess.
So for example in your case is assume you want to pick or place something from or on a moving conveyor. and i also have to assume you want a gripper to synchronize with the belt before picking or placing a object. In case of picking i also have to assume you have some sort of trigger to detect a product and from where your program needs to start to synchronize its TCP speed with that of the conveyor.
Do you see my problem here?
From your experience with older robots, if I replace all of this, what are the chances of having a robot that can work for at least few years after that without major investments? Do you think it's profitable to try to fix this robot? All investments until now were <60€ + my time (and yours, but my boss doesn't pay for that :D), now if I start ordering 1000+€ parts which don't solve the problem he won't be happy
That is a very difficult question to answer. If your lucky it can run for a few years without problems (if you can get current problems fixed), But having 3 used krc2's myself experience tells me another thing. I have had drives, the kps (basiccally the power supply) and the KCP fail all within a few years.
It al depends on much you plan to use the robot, and how much you get depended of it. We also started of very low budget, tinkering and experimenting. but at this point the robots are so far integrated in our production that when one fails is a problem. so we began investing more an more to keep that from happening.
In the last 2 years i am almost problem free because i asked kuka to do some proper maintenance on our robots, pricey but definitely worth it.
Well i got my first robot for i think it was €2.5K. but i have to say it was not in great condition. so before is was up and running i think we spend in total around €15k. This includes a spindle with toolchange capability, fences, safety gates and some foundation work. You would not want your robot falling over.
So if you are interested in kuka at miminal buy a KRC2 ed05 and try to stay away from VKRC and other different models. KRC2 are still supported by kuka and there is the most information available
The question what is you budget?, what kind of quality are you expecting? what product sizes do you want to mill? do you have a preferred brand you like to work with?
There is a great topic on what to watch out for when buying a used robot so i sugest you read that:
Also i would like to point out that a system like this is not really plug and play. Especially when starting with a used robot. so expect doing a lot of research in how robots work from installation to programming. This usually comes with some frustrations . Getting proper training can help a lot if you have the budget and time for it
1037,1614 and 1033 are normal. These are all devices that lose power immediately, if the devicenet unit you are using gets its main power from the cabinet and not some external source.
266 is not normal, but i dont know how serious this is.
At least your battery's are working and a least something gets saved to your RDW. This may still point to worn out memory on your RDW.
Can you look at the RDW card and check its version number? it should be somewhere on the card.
Do you have to remaster only after the pendant freezes or also when you shutdown manually? Remember that the KRC needs to be operational when you shutdown to save data to the rdw. in any other case it will just shutdown immediately after removing power.
When The pendant freezes could point to problems with the PC, harddrive, RAM, Motherboard something like that.
I have had a similar problems once, but kuka then just replaced the entire PC. So i can not really help on this point.
Start by reading the "read first" topic, then try again