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  1. Robotforum - Support and discussion community for industrial robots and cobots
  2. Members
  3. hermann

Posts by hermann

  • Smooth movement on different missions.

    • hermann
    • July 14, 2025 at 5:58 PM
    Quote from fuster

    Or I need to use CONTINUE inside the function in every line?

    Continue only has influence to the next line, your MyFunction() consist of many lines, so every line breaking the advance pointer needs a "continue" before.

    Code
    ..
    LOOP
      CONTINUE  ; !!!!!!!!!!!!!!!!!!!!!!!!!!!!!
          IF diSTART_MISSION THEN
          	 CONITNUE
             wait for diENABLE_MISSION
             CONITNUE
             interrupt on 21
             CONITNUE
             SWITCH giNUMBER_MISSION
    ..
    Display More
  • Kuka KRC2. Need some help to get this machine running.

    • hermann
    • July 14, 2025 at 3:37 PM
    Quote from panic mode

    that is one of the problems. there should only be one $config.dat file and it is in KRC:\R1\System

    Sorry, don't agree. There always existed two $config.dat, exactly in those folders. But the one in \Steu\ normally is empty. Even if i never have used it or seen one with some content it looks like one can insert global variables. Maybe this is BMW standard, don't know that standard.

    The sps.sub looks like standard one, or at least only very small changes.

    Quote from thomasvijf

    Could it be that the PLC, wich is still installed and powered up and connected via DeviceNet is blocking something? All the in and outputs like gates and lightbarier are disconnected.

    You can, and should comment out the devnet driver. Don't think that devnet can block something to prevent moving in T1 mode. Except the auto ext signals $move_enable and $drives_off, bind both to $in[1025].

    Quote from thomasvijf

    I commented out the devicenet part in the iosys file once. Before i did that i saw all kinds of in and outputs with dutch description of its function. After i commented it out the io deccriptions went to something generic.

    This is strange. The comments are just comments/longtexts, when changing iosys those comments normally don't change. Never have seen that behaviour.

    Quote from thomasvijf

    Idealy i want to remove the cabinet with the plc from the robot controller.

    In my opinion there is no PLC in the cabinet. That is an IO-module. It does nothing without a (Safety-) PLC connected to it. Share the module type number (the most left one, can't read it on the photos), or look for it at Beckhoff. You can see a Ethernet wire going from the module to the right side of the cabinet, where some more Ethernet wires end. Guess there once an ethernet switch was located, and a external Safety PLC was connected to that switch.

    Those M_xxxx error numbers aren't good. Many of them only disappear after a cold restart. Did you ever try a cold restart? Or your system is missing the correct text files for getting the text for the message number.

    Quote from thomasvijf

    Found the schematics to bridge X11 and X13 plug. My system is BMW E60 configuration if i'm correct. Did the wiring but something is keeping the controller from enabling the drives.

    This should be enough to move the robot in T1 mode and to remove the cabinet with beckhoff stuff.

  • Smooth movement on different missions.

    • hermann
    • July 14, 2025 at 1:06 PM

    Continue has an effect only to the very next line, the next line in your code is an empty line, so continue has no effect at all.

    Edit: you need some more Continue before every line accessing an input.

  • Continue program after safety stop

    • hermann
    • July 14, 2025 at 12:55 PM

    That's what signal SBH is for. Robot program can be active and as soon as robot begins to move he is stopped by safety. But anyway in your case I also wluld feel safer using the procedure you realized.

  • Continue program after safety stop

    • hermann
    • July 12, 2025 at 6:52 AM

    Why do you hard stop the main program while moving external axis? I would stop it by interrupt, wait for finishing movement of external axis, then return from the interrupt. In my opinion this would be much easier to handle

    Quote from Francois1er

    8.1 PLC pulse $EXT_START for 1000ms 8.2 PLC PULSE $CONF_MESS

    You confirm messages after trying to start program, program doesn't start while error messages are active. You have to do it the other way round.

  • Continue program after safety stop

    • hermann
    • July 11, 2025 at 9:41 PM

    Change 8.1 and 8.2.

    But anyway, signals like drive_on, ext_start and conf_mess have corresponding input like drive_ready, pro_act and err_msg. It's better to wait/handle those feedback signals instead of just pulsing the outputs.

  • CP velocity question?

    • hermann
    • July 11, 2025 at 5:59 AM
    Quote from n0909

    I would like to see if i can overwrite the tcp velocity globally based on the value incoming in sps.sub.

    Try it, and you will see, that it's not possible.

    Variables for movements are only accessible from main interpreter. Second thing is, even if you can access the variable $vel.cp it wouldn't have the effect you want. The movements are prepared in advance with all parameters like tool, base, speed.. in a buffer after this you can't change any of the parameters.

    The only thing you can set in Sps.sub, to change speed ad hoc, is the override $ov_pro or $ov_appl.

    Or you can set the variable you use in main program for speed, but this has an effect just after the look ahead buffer has reached the time of changing the variable.

  • how to use local_register tp code

    • hermann
    • July 9, 2025 at 3:35 PM

    Those local registers beginning from 10001 are local registers and unique in every single TP program, even when they have the same number, they "don't know" each other. Each TP program has its own R[10001].

  • Connect via Remote Desktop

    • hermann
    • July 9, 2025 at 7:36 AM

    You have to make all network changes on the Smartpad HMI. Should be somewhere under menu "setup - Network" or similar. When there is no TAB for KONI, you are missing the option for KONI.

    But should be possible to connect via KLI.

    On some KSS versions there are settings in a xml file that prevent connecting from a normal PC via remote desktop. But don't remember the exact file and setting to change it.

    Probably you can't connect Smartpad an PC at the same time. Only one rdp session at one time.

  • User Frame Problem with different TCP angles

    • hermann
    • July 9, 2025 at 7:09 AM
    Quote from bbb

    .. However, the TCPs do not stay in position perfectly when I rotate them around x and y...

    Specify 'not perfectly'. You never will get a perfect result on a real robot. Would say a deviation of round about 1 mm while turning for +/- 45° is very good.

    Probably mastering isn't OK. Checking witness marks also isn't a valid check for mastering. The visual check isn't exact enough for a good mastering. When someone did zero mastering in the past, the witness marks match, but the mastering isn't as good as from factory or with quick mastering (without doing zero mastering before). Same if a motor or measurement system has been changed.

  • Payload problem - 4 Gripers

    • hermann
    • June 27, 2025 at 9:04 AM

    The screenshots don't match. The first one shows different payloads for each gripper, the three other show the same for gripper 1-3. :hmmm: That's curious.

  • KR10 +track KL100 recommissioning

    • hermann
    • June 27, 2025 at 7:45 AM

    One thing is reading, understanding and following error messages. Your screenshot shows that you are trying to deploy project while robot is in automatic mode. Switch to T1.

  • KUKA mode selector error

    • hermann
    • June 26, 2025 at 4:53 PM

    Switching from T1 to AUT or EXT can also be prohibited when robot has safe robot option and has violated a safety zone like cell area.

  • Errors in Ext Mode

    • hermann
    • June 24, 2025 at 7:25 AM
    Quote from dudz

    ..

    I found a similar thread in the forum, but is a KRC4 - KSS 8.6.6.

    ..

    And why not posting a link to the thread you have found?

  • Variable update of TCP

    • hermann
    • June 23, 2025 at 6:13 PM
    Quote from karelcapek

    .. but when I assign my position register to UTOOL the tool center floats off to an unrelated point ..

    This is the expected behavior when assigning actual position of tcp to the utool. UTOOL represent the coordinates of tcp in respect to flange, when you change UTOOL coordinates you change the tcp, that's what you see when the green spehere moves.

    What do you want to achieve?

  • Servo gun shared for 2 robots

    • hermann
    • June 23, 2025 at 6:39 AM

    Use *,1,*,*,*,*,*.

    Not the number but the position of the '1' represent the group.

  • Problem displaying the 3D file.

    • hermann
    • June 19, 2025 at 3:31 PM

    Had the same problem with my laptop, the very same cell (1:1 copy of mine) had no problem at all on a different laptop. So looks like an incompatibility of RG and graphic card.

    Changing resolution of the imported stl (f. e. with Meshlab) made it a bit better, but didn't fix the problem complete.

  • Attempting to run KAREL program in background logic

    • hermann
    • June 17, 2025 at 8:09 AM

    Try:

    Code
    If (DI[1]=ON) THEN
  • KCP 4 "The RDP session was interrupted"

    • hermann
    • June 16, 2025 at 11:32 AM

    Did you try to unplug/replug the KCP/Smartpad?

  • "File Sequence Error" trying to load POSREG.VR from USB to controller.

    • hermann
    • June 14, 2025 at 11:50 AM

    Ever used the search function of the forum? 😉

    Post

    RE: How to rename(recomment) a lot of digital IO's fast?

    […]

    Thank you, @hermann ! I had made a note to look into this as a possible way of changing I/O Comments (I do something similar for PAYLOAD, TIMER, UFRAME, UTOOL data via KCL). A couple of honorable mentions for accomplishing the OP's goal are fexcel from @jay at ONE Robotics and FANUC Comment Tool from @linuxsand (the same person behind the incredibly useful Know FANUC Alarm Codes website).
    cattmampbell
    February 6, 2024 at 9:04 PM
    Post

    RE: KAREL to Write Robot I/O Comment

    I'm by no means a Karel Expert, but I've dabbled.

    Yes you are on the right path.

    SET_PORT_CMT can be used to set I/O comments

    You may also want to look at SET_REG_CMT, SET_PREG_CMT, SET_SREG_CMT for registers, Position Registers, and String Registers.

    Reading Arguments can be accomplished with GET_TPE_PRM.
    EnergyAddict
    January 31, 2022 at 10:16 PM

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