We are having a siemens safety PLC.
If the External emergency stop and Safety gate should be Hardwired to IRC5. Can anyone please tell me where to connect it. We are also having "Safe move pro" in IRC5 Controller.
We are having a siemens safety PLC.
If the External emergency stop and Safety gate should be Hardwired to IRC5. Can anyone please tell me where to connect it. We are also having "Safe move pro" in IRC5 Controller.
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.
Clicked on it and then also its not active.
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 $ET1_TA1KR i.e. 690+blockheight.
2. Where is the reference pos for the linear 7th axis? Can I select it freely?
3. I need to change the + and minus direction of the 7 th axis?
5. should I need to do the calibration of the 7th axis calibration?
6. I am having a additional carriage on the linear axis with no motor but mechanical attached with rob(using screws). Should I also add it in workvisual config or not needed?
I have also attached a pic of rob.
Thanks in advance.
s my interrupts are global because I am deactivating and activating in between my subprograms.
Can you please tell me what is the mistake in resume.
Got stucked....
I need to create 32 boxes around the each base orgin and if the tool is inside the box then the signal is on. For. e.g.. If the tool is in base8 then the base8 box must be true.
Since we need around 32 boxed. I can't use workspace because its limited.
The problem is. When the robot is travelling with with base zero then its working fine.
But not when rob travelling with other bases . Also tried with pos_act_mes the concept is not working
Can you please tell me why. my brains out .... plz help
I wrote a subprogram
GLOBAL DEF BoxWithBase(Dummy1pos:IN,BoxRefpos:IN,BaseNumber:in,Result:OUT)
E6POS Currentpos,Dummy1pos,d
FRAME BoxRefpos
BOOL Xinrange,Yinrange,Zinrange,DefRangefromTeachedPos, Result
INT BaseNumber
Xinrange= FALSE
Yinrange= FALSE
Zinrange= FALSE
ZplusFromTeached=900
XplusFromTeached=400
YplusFromTeached=400
YMinusFromTeached=50
XMinusFromTeached=100
ZMinusFromTeached=50
;;;;;;;;Dummy1.pos = is POS_ACT
;;;;;;;;Boxrefpos is the base number
If ($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
I an in need of current dynamic toolpos with respect to basedata
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 ???.?????
Frame Apple
Apple=BASE_DATA[8]:INV_POS($TOOL)
Orange=BASE_DATA[8]:INV_POS(Tool_DATA[1])
So, Apple will give the current tool pos with reference to base data8
Organe will give Tool1 pos in reference to basedata8
IS THIS CORRECT?
Or have I understood it wrongly??
Hi,
I read the geometric operator in kuka manual.
As far us I Understood.
1.Right side is the resultant.
POS:FRAME=FRAME
FRAME:POS=POS
2.The right side will be destination with respect to left side. P1:P2. Robot goes to P2 in relative to P1's co-ordinates and orientation.
3. (P1:P2)<>(P2:P1)
Can you please tell me.
1. Have I understood correctly. If not please correct me.
2.For an example, I am having some pos and FRAME called
POS ORGIN={X -1675.58,Y -1154.81,Z 1070.78,A 38.35,B 1.45,C 180.0}
POS TESTPOS={X 0.0, Y 0.0, Z 30.0, A 0.0, B 0.0, C 0.0}
FRAME TESTFRAME1={X 0.0, Y 0.0, Z 30.0, A 0.0, B 0.0, C 0.0}
FRAME TESTFRAME2={X 0.0, Y 500.0, Z 0.0, A 0.0, B 0.0, C 0.0}
Can you please tell me. What will happen?
LIN ORGIN:TESTPOS ;??????
LIN TESTPOS:ORGIN ;?????
LIN ORGIN:TESTFRAME1 ;??????
LIN TESTFRAME1:ORGIN ;?????
LIN TESTFRAME1:TESTFRAME2 ;????????????
LIN TESTFRAME2:TESTFRAME1 ;????????????
Thanks in advance
Ah finally found out.
Before explaining. I like to thank skyfire for the time spent on replying.
I found something interesting.
Our main prog is inside cell. And this cell is called in SPS1 with
IF (($MODE_OP==#EX) AND ($Prog_INFO[1].P_STATE == #P_FREE) AND $Ext_Start) THEN
CWRITE($CMD,STAT,MODE,"RUN/R1/CELL()")
ENDIF
.
The reason why sps3 was not running because we have calculated some positions in SPS3. When there is no Tool or no base. Then rob can't do the calculation and he is stoping the sps.
I have a doubt in air supply.
In my mainprog. There are lots of Subprog in loop like.
Main()
.
Interrupt for suppyair
.
.
LOOP
Supplyair interrupt ON
Subprog1()
Subprog2()
Subprog3()
Subprog4()
Supplyair interrupt OFF
ENDLOOP
ReactionfornoSupplyair()
INTERRUPT OFF supplyair
BRAKE
MsgQuit("Supply air NOK", "AIR Interrupt from mainprog",,"CHK_AIR",1)
resume
END
END
END ; MAIN
My doubt is?
when the robot is doing subprob2. in the middle of supbprog2. supply air is gone. and the reaction-rob has run.
Will the robot continue from Subprog2() from the line it has left? OR Robot will go to the first line of Main prog?
Thanks in advance
Hi,
KRC4,
In cell prog. after the BCO run. Then it comes to AUTOINI.
I turn to autoextern.
After turning to autoextern. my tool and base are lost. i.e. its showing tool ? and base ?.
and my submit intrepter(3) is stopped. {Note: We are using multi subitintrepter}
When I checked in intreuppt prog. It has nothing to do with tool or base.
My question:
Why after changing mode from T1 to AutoExtern? why the tool and base are lost?
2. Why the submit intrespter 3 is stopped?
3. I am unable to run the prog in T2? Only I can select in T1.
Thanks in advance.
Hi I am having a new KRC4
I need to do mastering with EMD.
1. When went Master- EMD- Standard- Set mastering = It's saying no axis to master.
2.When went Master- EMD- Standard- Check mastering = All axis are in green light
3. When went Master- EMD- with load correction- First mastering = It's saying no axis to master.
4. When went Master- EMD- with load correction- teach offset- Gave tool number= no offset to teach
But I haven't done the mastering for this New robot.
In message I am having KSS15047 Mastering Test Required(internal)
Can you please tell what is this message?
Shall I unmaster and again do the mastering?
Thanks in Advance