which means that I can use startup mode active to move the robot because my safety plc is not ready.
Posts by knowledgesharing
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Can anyone tell me what is this "Start up mode"?
in what situation is it useful for?
startup-service-startup mode.
Thanks in advance
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Hi,
I have made the bus configuration and given the Symbolic name in symbol editor.My doubt.
If I transfer it, Will it automatically create the IO's in $config with the symbol name?
How to give signal number for machine.dat variables(e.g..MoveEnable) from Visual works?
Thanks in Advance
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Hi we are having a KRC4. In kuka worvisual I have configured KUKA 7th linear axis in kuka workvisual. But The linear is not attached to robot because its not yet delivered.
So
Is it possible to simulate the 7th axis for testing my software and teaching?
Thanks in advance
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Ah, I found the solution. It was easy Just drag and drop. Edit the name in the symbol editor.
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Hi,
I need to configure the profinet with krc4 using working visualsScenario:
PlC is master.
Robot is slave(Device).
I have profinet box controlled directly by robot for gripper.
Using workvisualread KUKA profinet manual.
Steps I did:
1.Updated the DTM catalog with profinet in work visuals
2. Selected the hardware tab-bus structure- profinet. Right click and added the profinet in workviusal?
3. ticked- Activate profinet devicestack = to make it as slave(Device)
4.GAve device name and IP address?My doubts are:
1. For making plc as master and robot as slave and for configuring the profinet IO box. Should l have to use step7 hardware config and do the hardware setup and generate a GSD file from from step7? If yes then where should I have to place the file?2.How to do the IO mapping using workvisual. I saw the IO editor by selecting the profinet and changed the name and grouping. but still I am not getting idea.
Currently, The profinet box or PLC is not connected to the robot. So I can't test it.Can you please tell me,
1. Whether my configuration steps are correct?
2. my Doubt number 1 and 2?Thanks in advance.
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Thanks for your reply.
As far as I understood:
There are two types of motion for external axis:
Sync and AsyncSync: All the 7axis(if we are having only 1 external axis) will move together to reach the destination point. Under this Sync it's further subdivided to mathematically coupled and mathematically uncoupled. Mathematically coupled- It's used for a dynamic base, it needs to be calibrated. Mathematically uncoupled- It's used for a static base and it doesn't need to be calibrated.
Async: moves the external axis independently from robot6axis. For this, async needs to be activated in dat file.
For sync, mathematically uncoupled and linear axis:
1. From the workvisual; Select your linear external kuka axis from the catalog and add it in hardware configuration area.Then goto geometry tab and click proposal. then give ok. If will do all the configuration parameters.2. Transfer it to controller.
3. Master your KUKA linear external axis also.
4. In program the points datatype is E6POS
Have I understood correctly????? If not please correct it.
Looking forward for your reply. Thanks in advance.
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Hi,
We are having a KUKA KRC4 6 axis with Linear 7th axis robot. Till now I have worked only with KUKA 6axis robots and this is my first time with KUKA linear 7th axis integration. So I am having some doubts.1. The difference between Synchronus and Asychronous movement?
Syn- All the 7 axis will move to reach the destination point. We must teach it the point with E6POS
Asyn- My Linear 7th move according to E1 in E6POS and then the robot will work with remaining 6axis.
Have I understood it correctly. If not, please correct me.2. In sync movement. What is the meaning of mathematically coupled and mathematically uncoupled External axis?
3.First I need to do the Mastering of the External axis. Can I also do the mastering of the Linear 7th axis with Electronic dial gauge connected to X32?
CONFIGRATION:
4. What are the configrations setting need to be done in machine.dat file for sync move.Programming
5. I must declare all the position datatypes as E6POS and the value for my 7th axis will be stored in E1 for Sync Mathematically coupled? or XYZ will be calculated from the reference of the Linear 7th axis?I need your Help .
I hope, you can understand my questions. If not, Plz ask.
Thanks in Advance.
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Currently, I am having a project with an old comau robot c3g controller.
I am unable to open the program in winC5g software.
I have attached the robot serial number and the pendent photo with this email.
If possible can please send me the manual for C3G robot programming manual and c3G pendent manual.
It will be a great help from you. Almost 4 programmers are waiting because of this and we are in urgent situation. So can you send me the possible information about C3G.
Thank in advance
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For Comau safe operation in joint linmiting.
I have opened the browser and gave ip address and went to configuration and gave the password and did the joint limiting parameters.
Then I clicked save.
Can you please tell me.
a. Should I have to download and convert the file and take it in usb to comau controller. For this method can you please tell me what is the software to convert the file? and where to paste the converted file?
b. OR, If I press save will it automatically save to corresponding location and it will get restarted.
Since I am new comau safe operation. I am asking you.
Looking forward for your reply. Thank in advance
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I think the diffeerence between x and XX is
X : read individually
XX : reads all togetherI have attached a screen shot from docu.
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Hi,
I belive its for writing the date and time. But how to read the time ? -
Hi,
Thanks for your reply.
is that for device net and for profinet is the syntax is same or different?
INB0 = 198,xx4 (mapped digital input from 1 to 32) ?????is That input starting and ending number are correct?
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Hi,
I am not 100% sure with profinet configurations in kuka. Can you please help.PLC is master and Robot is slave with Profinet. PLC address is 9 and Profinet address is 198.
I have 25 Digital inputs and 20 digital outputs + 2 variables with word and 2 variables with integer1) I did in pnioDrv.ini file
ENABLEDEVICE=12) in IOSYS file under pnet
INB0 = 198,xx4 (mapped digital input from 1 to 32)
OUTB0=198,xx4 (mapped digital output from 1 to 32)1)now, How to map the two integer input here?
2) Is that the digital input and outputs are mapped correctly?
3)How to map the two words input here?If my question is not clear, Please ask me. So that I can explain more.
Can you please help with profinet configrations ? Thanks in Advance
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I like to send my positions along with other varibles from from my .net c# to Comau robot. And also like to read some user program variables from comau robot to my sql database.
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1. how to convert a cartesian pos to joint postion? I am have a position in cartesion form I want to convert it to joint postion through software. Is there any function in comau to calculate the joint pos when i give a cartesion pos as input.
2. How to convert a joint pos to cartesion pos?
Thanks in advance.
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Hi,
Till now I am using kuka, Now I have to work with Comau robot. Since am new to comau, I have some questions about it.1. how to calibrate the tool for TCP in comau?
2. how to do the Base(Uframe) calibration in comau?Thanks in advance.
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Thanks for your reply shale. The manual was very informative.
But still I have a error message:" servots.c 746 not allowed if servo task not initialized OK."
code that pops up when I try to jog or commutate.Do anyonde know how to overcome this error.
Thanks in advance.