Posts by diglo

    Hello people!


    I want to build a device which allows one operator to RELEASE the brakes of the robot axes to allow fast manual movement in case of emergency.
    For instance, one may unlock the A1 brake and move the robot out of intereference with the production line quickly and effortlessly.


    This device is already available for fanuc robots and consists in a small panel with 6 buttons, each one releases one axis brake.
    The panel is connected to the robot through the same connector of the controller (replaces the controller), but only the pins for the brakes are wired.


    Today i did some electrical measurements on KUKA brakes and it turned out that they are released with a voltage applied of 27V, the current drawn by each brake is between 750 and 950 milliamps and the impedance varies a little between the 6 motors but it's between 35 and 27 Ohms, which is compatible with the current measurements.


    I suppose that a simple 24V power supply may do the job to release the bakes.


    Do you think it's possible?


    Diglo

    Ok,


    I've found something, if you set

    Code
    $interpreter=2

    , then the variable

    Code
    $err

    is containing informations about the current sps error and line of code, but I've found nothing about logging of sps errors at contoller level...


    diglo

    I'm just using the the variable viewer of the SmartPad since my "C" variable is just a global integer variable.
    I know that you can't directly set an $OUT variable without stopping the Advance pointer (unless you use $OUT_C).


    Inviato dal mio XT1052 utilizzando Tapatalk

    Hello people!


    Today I've set up a small program to demonstrate the behaviour of the $advance value but it looks like it behaves differently from what I thought it should be! EDIT: I did the teste on a KRC4 8.3.15.109


    My simple program is: (i've added line numbers here for better explanation)



    When I run the program (in T1), the robots executes the BCO move at line 30, and C is 0.
    When I press the PLAY button again for half a second, the robot moves for maybe 20mm and C equals 3, this means that the robot has evaluated the instructions up to line 90!
    How is that possible, given that I have set $ADVANCE to 0 in line 15? :hmmm:
    This happens even if i remove the C_DIS instruction... :icon_eek:


    WHY???
    diglo

    Do you know how to quickly release the brakes of a robot axis?
    Is there a device from kuka capable of supplying temporary power to the brakes and allowing free movement of the motor?
    This can help to get the robot (or people) out of troubles in some situations...


    (Fanuc provides a device called Brake Release Unit which does this job)


    diglo

    You need to turn drives on first, and once the drives are ready, you have to give the conf_mess signal.
    This is what i use to auto-ack the faults:


    do_drive_on : wired to drive_on
    do_conf_mess : wired to conf_mess
    do_ext_start : wired to ext_start
    do_droves_off : wired to always TRUE


    I think the easiest solution for limiting the torque is:



    once you end the task, you need to remove the torque limitation with


    Code
    RESET_TORQUE_LIMITS(ax)


    diglo

    Hello everyone!


    You all know that each joint torque can be limited, making the robot axes easily "pushed" by external forces but this only works in the axis space.


    What I'm looking for is a way to "coordinate" the torque limitations in such a way the robot generates a fixed and limited pushing/pulling force along one arbitrary cartesian direction.


    Have you ever faced this problem?


    diglo

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