I will try my best
Posts by s2007.ravi
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I am also missing the training
I had only basic training on KRC2 some two years back.
I tried with KUKA in India and it seems like they do not have sufficient guys to train for expert programming and especially on KRC4. I am pushing my bosses for Germany but I need more luck for it.
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Panic Mode is right.
I want to write a subroutine let say...
Go_Home()
The call of this program is triggered if the input push-button is pressed on the panel. This subroutine should make the robot to move to home position without hitting any peripheral bodies. I am reading the documents and forum to get some idea to accomplish this.
Please share if anyone has some example.
Thanks
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Please check the dip switch settings on festo unit if you have. And if it is the last device then please check the terminating resistor.
Thanks
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Hi Semirk,
I meant to read this topic. Skyfire, Panic Mode and others have given very good description on your problem. It may help you.
Thanks
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Try cold start. It helped me few times.
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Hi,
Check this system variable $PRO_I_O[]. It should be assigned to the path of your SPS. For ex:
$PRO_I_O[]=”/R1/SPS()”
Thanks
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Hi
Can anyone help me on this (attached screenshot)? I have KRC2 controller with v5.5.16.
Thanks
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Hi All,
I would like to develop an application for Robot which will allow the operator to move the Robot to Home Position (xHome) from any position. The idea is like this:
1). My robot runs in Auto_Ext mode. I will install a push-button on the interface cabinet (other than controller) naming Home button.
2). I would like to write routine which will use the input of this button, stop the robot and move the robot automatically to Home Position from any position.
3). I am thinking on it and have to log current position of the robot and depending on this I have to choose the further motions of the robot. I have to take care of all the mechanical barriers in the robot path in order to avoid any collision.Please share and benefit me with your knowledge.
Thanks
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Hi,
It you have KRC4 them you may define work envelopes and the limits for each axis.
You should go through system integrator manual for this. It has been nicely explained there.
Thanks
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Hi All,
I am happy to tell that I solved the problem of mastering Axis-3 on Titan.
In Titan, we have two RDC boards, Axis-1 & Axis-2 are connected to RDC-1 (X32 at robot base) and rest of the axes are connected to RDC-2 (X32.1 at robot base).
I was connecting the cable on X32 port and getting error. When I connected cable on X32.1 port, the robot got mastered.
I thank you all for your precious suggestions.
Thanks:)
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The software is KUKA Load Detect. It is a paid software from KUKA compatible to the version of the KSS u have. It comes with manual with the complete procedure of calculating the load of the tool. It is recommended to use this software to overcome all load related issues.:)
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Hi,
I found a document from KUKA Simulation. Please see as attached. Please do not follow step 1 to 3 if your have single PC license for KUKA Sim and Officelite. It didn't work for me because of some other issues but you may give it a try.
Please change your VMware network adapter setting to NAT and configure VMnet8 connection on your Host computer. Assign the IP address in host computer and hopefully it should work.
Good Luck
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Hi,
I would suggest to go with the HMI make same as your PLC make. Then you may map a 16 or 32 bit signal in between robot and PLC.
Change the value of this signal in robot program depending on the status and on the HMI define corresponding messages.
I have been doing this on Siemens platform and it is very easy to accomplish.
Thanks
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No I was not declaring in config.dat. I created a different .dat file in Program folder and then declared my signals there but it gave me error. As Panic said, I will wait for new KSS and try on that.
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Hi,
I guess you may try like this:
Code
Display MoreDEF Main_Program ( ) INTERRUPT DECL 8 WHEN $IN[21]==TRUE DO HALT_ROBOT ( ) INTERRUPT DECL 9 WHEN Start_Robot==TRUE DO Resume_Robot ( ) INTERRUPT ON PTP P1 PTP P2 ..... END DEF Halt_Robot ( ) WAIT SEC 0.1 HALT $OUT[21]=TRUE END DEF Resume_Robot ( ) RESUME END
I hope it would be helpful.
Thanks
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Hi,
I am facing problem in Titan robot with KRC2 controller with KSS 5.5.6. It is asking to perform mastering on Axis-3. But when I performed mastering using EMT it gave me error saying "EMT Mastering distance exceeded".
I tried multiple tricks like:
1). Moved axis slightly more than the mechanical zero position.
2). Check mastering on other axes and it gave me difference. I tried check mastering on Axis-3 but still the same error of distance exceeded.
3) Cleaned the mastering notch with sand paper. Oiled the pin of the mastering pointer on the axis.
4) Did the cold start of the controller.
5) Did the mastering of the axis using dial guage option without actually mounting it and axis got mastered, though I unmastered it again.
I talked to the KUKA guys and followed whatever suggestions they gave but not successful. They told me not to play with the mastering notch like deepening it or something else. They are also denying to use reference mastering option.
I need more suggestions or tick I can adopt to overcome this issue as the robot is out of production for almost a week.
Many thanks