Hello Everyone,
Just thought I should share this with you from the Eurovision Song Contest in Stockholm last thursday.
A rather unusual robot program
Hello Everyone,
Just thought I should share this with you from the Eurovision Song Contest in Stockholm last thursday.
A rather unusual robot program
For the motion planning, there's;
$AXIS_BACK - Start position for current motion
$AXIS_ACT - Current interpolated position
$AXIS_FOR - Stop position for current motion
For the servo control there's;
$AXIS_ACT (Again) - Set position
$AXIS_ACT_MEAS - Actual position as measured by resolvers.
Sounds like a job for the function generator!
You have to set the gear ratio to get the kinematic coupling working correctly, then you have to adjust $axis_dir to make the jogging go the right direction.
So, invert $RAT_MOT_AX[7] and $AXIS_DIR[7] in $machine.dat on the quantec. Then invert $RAT_MOT_AX[8] and $AXIS_DIR[8] in $machine.dat on the KR5.
I'm not sure, but you might have to remeasure the positioner, but you can try it first.
What work visual version are you using? Did you configure the two robots with different version?
On the quantec, the gear ration for E1 seems to be inverted, on the KR5 it seems that the gear ration for E2 is inverted.
I would upgrade to the latest WoV version and redo the configuration.
Then you got the right version!
From KSS8.2.8 and onwards the automatic updating works fine, the problem was with version 8.2.7 or lower.
If the KSS version you had before was very old, then the automatic update doesn't work.
You have to copy files from C:\KRC\Smartpad\Application from the controller to NAND_FLASH on Smartpad (Inside windows CE HMI).
You have use the usb-port on the backside of the smartpad to kill the KUKA HMI and then insert a usb-drive with the files from the controller.
You should first add the positioner to the controller in workvisual. Make sure to select the correct voltage.
Then you must calibrate the positioner, it's done under Startup -> Measure -> External kinematic.
You must select the correct machine (probably 3 in this case), and then do a four point calibration.
Try to remove any unneccesary spaces in iosys.ini.
For example "INW10 = 127,9,x1" -> "INW10=127,9,x1".
I don't have so much time to write down, but i just wanted to let you know that creating and reading/writing files on network drives do work from the KRC4.
Just make sure you hash the password with the khash.exe program installed on the KRC4. IIRC it should all be in the CREAD/CWRITE manual.
If you are 100% sure that there is no other piece of code causing the problem in your program,
you can try to copy the contents and put it into a new .src file. That can solve many strange problems.
Otherwise, please post the full code if you can, or atleast some lines before and after.
Hello!
At first i was going to recommend you to use spline, but then i noticed you were using a too old software for that..
My other recommendation is that you don't use circ_rel, instead you should use the regular circ movement.
The reason for this is that circ_rel will start a new arc from the current if you cancel the movement and then start it again.
I have programmed the exact same setup some time ago, and if i remember correctly, option number 3 should be the way to go.
I can't understand your problem, maybe you could post a short video? I can try to test it on monday.
You can also use WoV 3.x.x for KSS8.2.
You must use workvisual, which is the configuration software for KUKA controllers. If you have not installed it you can find it on the d drive on the controller.
Check the help file and documention on how to do this, and come back if you can't figure it out.
You will be able to get KCP's for many years to come. KUKA will keep spareparts for at minimum 10 years after sales stop.
The KRC2 was discontinued in 2011-2012, so you will be able to get spares from KUKA until 2022.
If you want to run your robot longer than that there is a good chance that KUKA will keep selling the KCP's (KCP for KRC1 is still stocked, and it's 13 years since stop of production now.).
There is also the possibility to buy used KCP's/robots/controllers from plants that are upgrading their equipment.
Setting CP_VEL_TYPE to #VAR_ALL also seems to slow down the robot much more than needed when approaching a singularity.
Setting the variable to #VAR_ALL_MODEL makes the robot move at a speed closer to the maximum axis speed.
I have not had any problems with the situations you describe about the robot stopping anyway, so I'm not sure if "#VAR_ALL_MODEL" changes that in any way, but it could be worth a try.
Try this, not 100% sure it will work though..
You need to set the correct tool and base for the destination before.
This should work if you use ptp, if you use lin, you might get some "true negatives".
E6POS startPos
E6POS destPos
E6AXIS calcDestPos
INT status
startPos=$pos_act
destPos= your destination
calcAxisDestPos=INVERSE(startPos,destPos,status)
IF (status == -2) THEN
;position is unreachable, abort
ENDIF
Try connecting through the x43 connector on the CCU. It should activate RDP for you. (Not multiuser, so the smartpad will be disconnected of course..)
I know that some people use third party vnc softwares, which is something that kuka probably doesn't "approve" or promote, since it goes against SPOC.