Posts by hermann

Quote from Robert Suto

It'll probably be fixed with the next firmware update.

May be, I don't think so. It exists since first versions on KRC1.

Quote from pdl

I hate the idea of option number 2, it would force me to lock myself into a cell instead of operating with the gates open.

NEVER EVER.

You can edit positions, if you know their names, but always have in mind that the bot always adds a 'X' in front of the position name. On newer robots, where those global points exist, there is added a 'gX' in front of the position name.

Then you can edit the position by using the menu - Display - Varaiable - Single.

Just type in the name with added X or gX, and you can enter a new value.

I usually only adjust one component at time.

F.e. you named the position 'P1' use XP1.z to show and change the value for the Z coordinate.

Reinstalling kss doesn't delete files that already exist on hdd. So the duplicated files will remain, and cause the same error like before.

Seems you screwed up you system. You should format the system drive and reinstall everything from scratch.

But at first I would create an image backup of the hdd, would have done that also before reinstalling kss, did you do it?

No, as already stated here in the thread, singularity is caused by axis 5 being near zero. If you only change axis 4 and 6, you don't change anything at axis 5,so the singularity problem won't vanish.

Have a look into the units of the center mass.

Please read and follow:

Thread

READ FIRST...

how to post correctly:

1. be a good citizen and follow common sense. this includes no sharing or asking for copyrighted material. such posts will get you banned (because we don't want Kuka legal team stepping in and request ban on all manuals). an example of something that will get you in trouble is any material from Kuka College.

1.5 make SURE to post in the right forum section (manuals in manuals section, IIWA and Sunrise topics in IIWA section). see attached example for IIWA... sigh..
Please…

panic mode

Jun 5th 2016

Then come back and ask again.

Quote from Fubini

After the resume of interrupt_handler.

Fubini

Some kind of glitch in Fubinis main memory

Code after resume is not executed. AFAIK. So this:

Quote from RoboticsMan

Oook? But I don't have any movements in the interrupt, so I am not sure how that will change anything. Especially since my problem is that the interrupt is triggered later than I want. But sure, I'll try it out.

Update: I tried it, didn't change anything.

was expectable.

It's what a NAT router is used for.

Quote from SkyeFire

.. don't recall offhand if OL 8.x supports Ethernet/IP, ProfiNet, or Ether Cat..

It doesn't, at least profinet . The other ones I don't know for sure.

If it is possible at all, to use two different ip addresses, then you must use addresses from different subnets.

Two ip addresses on one physical interface, in one subnet don't work if you don't use also different ports for each ip address.

May be you can use a NAT router to split the different ip addresses of your relay into different ports on your robot.

Did you ever perform a cold boot since new config?

Have no experience with two client connections on krl/Ethernet. But from network sight you should use different ports instead of different IP adresses.

Try it. It is not too complicated to watch the current, you can just have a look into it during the normal production, and you can see the difference.

2 times 100 kg on an 240kg Robot? So your gripper maximum weight is 40 kg, and only if the mass Centerpoint is not more than 200 mm away from flange.

Think Your robot is overloaded.

Quote from ToccoEnorme

How do I set my $EXT_START to true then?

Should I just declare them as BOOL instead of INPUT?

No, you need a physical input.

You can connect a physical output to a physical input, then you can control the input by setting the corresponding output.

You shouldn't use the input direct to start. You must detect a rising or falling edge of the input, to prevent multiple calls of cwrite in very short time.

Don't know what your problem is .

You have a working solution with round about 10 lines of code, now you want to have a solution where you can spare 3 or 4 lines . Have a drink and be happy with your solution.

Try to stick the complete error handling into a routine, then you have only one line of code in main error handler.

What about PR[1,4] ?

Don't think about how this has been happened.

Just a few weeks ago a customer had a similar issue, at last only restoring an image fixed the problem. Would say you where lucky to resolve it with loading the program from a backup.

I think the robot had a problem in memory management, and lost some informations about the program.