Posts by knowledgesharing

    So we can later joint it with rob target


    I mean


    dummy1Robtarget.Trans.X:=dummy2pose.Trans.x;
    dummy1Robtarget.Trans.Y:=dummy2pose.Trans.Y;
    dummy1Robtarget.Trans.Z:=dummy2pose.Trans.Z;


    dummy1Robtarget.Trans.q1:=dummy2pose.Trans.q1;
    dummy1Robtarget.Trans.q2:=dummy2pose.Trans.q2;
    dummy1Robtarget.Trans.q3:=dummy2pose.Trans.q3;
    dummy1Robtarget.Trans.q4:=dummy2pose.Trans.q4;


    I am sure with Trans but I am not sure with the rotational. is it okay for orientation?

    Hi,


    I am having a main program of 10lines.


    in line no4. Iwatch interrupt1
    in line no5. i am calling a subprogram1
    in line no6. Isleep interrupt1


    in line no7. I am calling subprogram2



    TRap reaction
    .
    .
    ENDTRAP


    Lets say for example: Subprogram1 has 100lines. during the 50th. my interrupt is triggered and my trap program reaction is activated.


    After the Trap program I need the PP(program pointer) in line no.6 :help:


    in the trap program. I tried to use
    Return: It's coming back to 50th line in subprogram1
    Exitcycle: goes to firstling of main program
    Exit: Exit the program


    After the Trap program I need the PP(program pointer) in line no.6 :help:


    Thank in advance.

    Hi,
    I am having a question regarding a safety.


    External emergency button:
    Should the External emergency botton should be hardwired connected to IRC5 controller. If yes can you please tell me where to connect the external emergency stop?


    Safety Door:
    When the operator request for a door to open in automatic mode. Should the safety door also be hardware wired to IRC5 or through software(we are also having PLC as master using profinet).
    Currently we have done it through software, When the operator request door to open in automatic. The PLC programmer will make "MOTOR ON" as false. and he will give the open the door. Is it a correct procedure for safety door? or can you please suggest me a correct procedure?


    Thanks in advance. :merci:

    Hi,
    I am unable to start the virtual controller.


    When I click-Virtual controller.


    I am getting a window where the OK button is not active.


    I have also attached a pic of screen shot.


    Can you please tell why the ok is not active to start the virtual controller?


    Thank in advance

    Thanks for your reply.


    Can you please explain what you mean by "E1axis is improperly tuned"?


    Things I did:
    1. Added KL4000_QB_40 in Work visual, cell configuration.
    2. deployed.
    3. Mastered E1.
    4. Calibrated the linear axis.
    5. Checked the TCP. By moving the linear in world. When moving in world the TCP is not moved.


    Did I miss any steps??

    I have configured the external axis and the robot is also running in production.


    The external axis is KL4000_QB_40.


    But some time I note that the whole robot is shaking.


    And some time it says max torque exceeded on E1 and message number is KSS01133.


    Can you please tell what could be the possible cause of the error?

    KUKA KRC4 with 7th linear axis KL4000?


    I have configured the external axis through workvisual. Now I can able to do the jogging in axis mode.


    I am have having few doubts. I have also attached a pic of rob. and work visual config.


    1. My robot is not directly on the 7th linear axis. There is block between robot and linear axis for increasing the height. Can you please tell me how to add this block or it’s not needed to add this. is the transformation is ok?(attached pics).
    Or If i do the calibration of the 7th axis will it automatically get the height of the block
    OR currently $ET1_TA1KR(distance between the 7th axis flange and rob root) Z 690mm This value came automatically from workvisual after doing the configuration. But there is block inbetween. Should also give the block height in $ET1_TA1KR i.e. 690+blockheight.


    2. Where is the reference pos for the linear 7th axis? Can I select it freely?


    3. I need to change the + and minus direction of the 7 th axis?




    5. should I need to do the calibration of the 7th axis calibration?


    6. I am having a additional carriage on the linear axis with no motor but mechanical attached with rob(using screws). Should I also add it in workvisual config or not needed?


    I have also attached a pic of rob.
    Thanks in advance.

    Got stucked....


    I need to create 32 boxes around the each base orgin and if the tool is inside the box then the signal is on. For. e.g.. If the tool is in base8 then the base8 box must be true.


    Since we need around 32 boxed. I can't use workspace because its limited.


    The problem is. When the robot is travelling with with base zero then its working fine.


    But not when rob travelling with other bases . ??? ??? :wallbash: :wallbash: Also tried with pos_act_mes the concept is not working :wallbash: :wallbash: :wallbash:


    Can you please tell me why. my brains out .... plz help :help:
    I wrote a subprogram


    GLOBAL DEF BoxWithBase(Dummy1pos:IN,BoxRefpos:IN,BaseNumber:in,Result:OUT)

    E6POS Currentpos,Dummy1pos,d
    FRAME BoxRefpos
    BOOL Xinrange,Yinrange,Zinrange,DefRangefromTeachedPos, Result
    INT BaseNumber

    Xinrange= FALSE
    Yinrange= FALSE
    Zinrange= FALSE


    ZplusFromTeached=900
    XplusFromTeached=400
    YplusFromTeached=400


    YMinusFromTeached=50
    XMinusFromTeached=100
    ZMinusFromTeached=50


    ;;;;;;;;Dummy1.pos = is POS_ACT
    ;;;;;;;;Boxrefpos is the base number
    If ($ACT_TOOL<>-1) AND ($ACT_BASE<>-1) THEN

    IF $act_base==0 THEN
    if ((Dummy1pos.z < (BoxRefpos.z + ZplusFromTeached)) AND (Dummy1pos.z > (BoxRefpos.z - ZminusFromTeached))) then
    Zinrange=TRUE
    ELSE
    Zinrange= FALSE
    endif

    if ((Dummy1pos.y < (BoxRefpos.y + YplusFromTeached)) AND (Dummy1pos.y > (BoxRefpos.y - YminusFromTeached))) then
    Yinrange=TRUE
    ELSE
    Yinrange= FALSE
    endif
    if ((Dummy1pos.x < (BoxRefpos.x + XplusFromTeached)) AND (Dummy1pos.x > (BoxRefpos.x - XminusFromTeached))) then
    Xinrange=TRUE
    ELSE
    Xinrange= FALSE
    endif

    ENDIF


    IF ($ACT_BASE<>0) THEN
    if (((BoxRefpos.z +$POS_ACT.z) < ( BoxRefpos.z + ZplusFromTeached)) AND ((BoxRefpos.z + $POS_ACT.Z) > ( BoxRefpos.Z - ZminusFromTeached))) then
    Zinrange=TRUE
    ELSE
    Zinrange= FALSE
    endif

    if (((BoxRefpos.Y +$POS_ACT.Y) < ( BoxRefpos.Y + YplusFromTeached)) AND ((BoxRefpos.Y + $POS_ACT.Y) > ( BoxRefpos.Y - YminusFromTeached))) then
    Yinrange=TRUE
    ELSE
    Yinrange= FALSE
    endif

    ;if (((BoxRefpos.x + $POS_ACT.X) < ( BoxRefpos.x + XplusFromTeached)) AND ((BoxRefpos.x +$POS_ACT.X) > ( BoxRefpos.x - XminusFromTeached))) then
    Xinrange=TRUE
    ELSE
    Xinrange= FALSE
    endif

    interrupt is discussed lot and read in manual.


    But my interrupt is not working. I can't figure out the mistake. ??? ???


    I have declared the interrupt in cell prog
    CELL()
    GLOBAL INTERRUPT DECL 4 WHEN isupplyairNOK == TRUE DO Rob_air_NOK()
    GLOBAL INTERRUPT DECL 5 WHEN iRobPneumanticON<>TRUE DO Air_ON()
    INTERRUPT ON 4
    INTERRUPT ON 5




    ..
    END


    DEF Rob_air_NOK()
    INTERRUPT OFF 4
    BRAKE

    MsgQuit("low air", "air Interrupt from mainprog",,"CHK_air",1)
    resume
    INTERRUPT ON 4
    END


    DEF Air_ON()
    INTERRUPT OFF 5
    BRAKE

    MsgQuit("Air NOK", " Interrupt from mainprog",,"CHK_AIR",1)
    resume
    INTERRUPT ON 5
    END



    When I turned off the air. The interupt is not working ??? ???.????? :help:

    Frame Apple


    Apple=BASE_DATA[8]:INV_POS($TOOL)
    Orange=BASE_DATA[8]:INV_POS(Tool_DATA[1])


    So, Apple will give the current tool pos with reference to base data8
    Organe will give Tool1 pos in reference to basedata8



    IS THIS CORRECT?


    Or have I understood it wrongly??