Posts by hermann
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You should switch the hmi language to English, and then post the error messages again.
Post screenshots and other things here in the forum, not on external links, those will be broken after a while, and nobody can comprehend the thread.
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Did you use a Kuka USB drive?? The manual is warning for failure if not.
Joking aside:
I would try to copy the installation files to drive D of the robot and do installation from there.
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Procedure of Profinet configuration changed over time.
What are the version numbers new and old?
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SJX made a different approach.
Make a connection from Master connector to Slave connector on Robot. Then configure the robot as master to the slave part of the robot.
The HMI is not used at this test configuration. It is only a test if cabling and principle work flow of configuring is correct.
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But about the original? What happens ?
Nobody can tell you what happened for shure. Windows doesn't delete anything without confirmation, but:
Windows creates a hidden folder 'system volume information' and sometimes makes a speed test with writing \ deleting some new data on the flash. May be something has gone been wrong during that process. Or the robot has problems with the folder 'system volume information'.
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If you really need to change trajectory on the fly during an active movement, you will need RSI. What yoh are trying doesn't work, because the path planner already has planed the path before you change the values in sps.sub.
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... and I know the answer is going to be to use the USB... which I don't have.
No, he has no image.
Call Kuka hotline. I see no other chance.
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Try to change the line in pfbms.ini to:
WAIT_FOR_SLAVES=1
But if it is true, that the Turck Panel uses the EXOR hardware, then I doubt that you will be successfull with controling the panel with the Kuka bot. Had a short look onto the documentation of EXOR, they use a special FB for communication to the panel. So I think the panel will use a higher protocol, not only I/O. But Kuka Profibus only supports simple I/O protocol.
Edit: After reading some sheets from Turck: It may be possible that you must configure the display with Codesys before using the profibus module.
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First thing I would do:
Compare all files of an old (working) backup, with the actual one. Using Windiff, Beyond Compare. ..
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Post your pfbms.ini, iosys.ini, pfbms.log and iosys.log
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For the last time:
Don't post screenshots of files like pfbms.ini, iosys.ini. Post the files.
If You post screenshots, use f.e. irfanview to make the filesize smaller before posting.
After reconfiguring post the files iosys.log and pfbms.log (don't post screenshots!, post the files).
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Can't remember the time.
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We rename it to kuka1.ldb, but the Kuka windows automatically copy the file into the krc system with master(.ldb) name.
I doubt that.
Try to copy your kuka1.ldb to INI folder, and change the name master.ldb in pfbms.ini to kuka1.ldb.
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Isn't the key also in a normal backup? In the files system.xml or keystr.id.
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Master.ldb is a default ldb file of the Kuka system. Did you rename the ldb in your NCM project to master.ldb?
It is better to post ascii files than screenshots of the file (pfbms.ini, iosys.ini.
You told me earlier try the system without this: example: INT30=3,0,x1. The system worked perfectly(Red light up continuously) If i typed this into the system throw back the error.
Ah, yes that's true. But you said "everything worked", that's not true, because the connection to the HMI didn't work really, you only had no errors.
So I think you haven't integrated your pb slave, you have to use correct ldb file.
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If i think clear, i will need only single I/O (for instance:conveyors and sensors) and i will use this Signal declarition.
DEFFCT INT Tool_ID()SIGNAL X1 $IN[1201] TO $IN[1204] ; low nibble
SIGNAL X10 $IN[1205] TO $IN[1208] ; high nibble
RETURN X10*10 + X1
ENDFCT
You don't think really clear.
If you need one single signal of a sensor it looks like:
3.As i said earlier we don't know exactly right know, how much I/O we need. I try to calculate 100 inputs and 100 outputs, because of that above signal declarition.(Its just an example we need much more signal)
100 signals is a unfavorable number! It is not a multiple of 8.
4. I don't understand clearly what is your question here. Can you explain it please?
This is Nr. 4:
What's looking your pfbms.ini file?
Post your pfbms.ini. One line in that file has to point to your .ldb file !
2.Yes we create the .ldb file in the kuka windows, so we didn't have to copy it into the appropriate location( C:\KRC\Roboter\init), cause the system did it directly.
Which software did you use for creating .ldb file?
How much bytes did you configure in the .ldb file? (Screenshot of configuration in NCM Manager?)
What's the name of your .ldb file?
Is it that diffcult to post all parameters you have on your profibus and configuration? Nobody can help without exact parameters or knowing what steps you already did.
.. I thought i have to use only 1 line the INB/W/DW or OUTB/W/DW , but if i can separate this clear as Skyefire iterpret for me, I will try this form tomorrow ...
I think i had this problem at Friday, because i tried the system without change something is[PBMASL] in iosys.ini and the system worked. After i typed in INW...... the system threw back the error message.
Why did you change a working system? And why didn't you reverse the changes after making it not working?
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So do you have a gsd file for the turck module?
Did you create a .ldb file with NCM manager or Step7?
How many bytes I/O did you define in that project?
What's looking your pfbms.ini file?
And once again: it is not necessary to use INW in iosys.ini even if you want to use words or double words as integer signals in the robot. You can define every signals as bytes, and use them as whatever you want (single signal or integer with 2-32 bit length) in the signal declaration in $config.dat or other .dat file.
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You should tell us how much bytes / words your slave with address 3 has. And how much bytes / words you want to change with the connection of the robot slave to the master plc.
In other words: give us all parameters of your bus, master / slave used and amount of I/O for each device on bus, topolgy of the bus. Otherwise we need this lost crystal ball.
Why don't you use bytes (aka INB/OUTB)? It's much easier to handle, no confusion about using factor 2 or not on some parameters.