Posts by s2007.ravi

Quote from panic mode

[size=2]there was a bug in WoV so during installation one of folders was not created automatically ("\WorkVisual Projects").
to solve the issue create folder manually:
C:\users\<username>\Documents\WorkVisual Projects
[/size]

As I overcame the problem with the help of new version of Work Visual, I didn't check about what you mentioned. But, it is a good indicator for the next time.

Thanks

Thanks Massula.

Updating Work Visual to version v4.0.24 Build0224 fixed the problem for me.

Hello,

Yes, the robot is running and I powered it ON for the first time this morning as it arrived from KUKA recently.

I cannot comment if the project is corrupted or not as it is supplied by KUKA so I guess it should be a working project.

Yes, I took a regular backup but haven't tried to open the project yet in Work Visual this way. I can try now.

Do you have an upper version of Work Visual i.e. higher than v4.0.21? Please check your pm.

Thanks

Hello Sirs,

KRC v8.3.29
WoV 4.0.21 Build0126
VirtualBox v5.1.18

I have installed Work Visual 4.0.21 Build0126 in VirtualBox (Windows 7 32 bit) and trying to access the project from the controller. I am able to ping the controller after I changed the IP address of the network adapter in virtual box to 172.31.1.144 (the controller IP being 172.31.1.147). But unfortunately, I am not able to download the project from the controller to my computer. I am able to browse the project in work visual and see that the controller is showing the active project with Initial and Base project.

The download is running to 100% but throwing an error saying (see attached screenshot):

"An unknown error occurred while downloading the project 'project name' from 172.31.1.147": Could not find a part of the path.

Please suggest if anybody faced such kind of problem and found a solution.

Thanks

Quote from panic mode

You are the programmer..
You chose to declare them as - variables.
By definition variable is something that can change value...
Variables declared I $Config.dat are global and can be accessed and changed by anything and anyone.

I understand this. I consider to change these variables to constants at next available opportunity.

Quote from panic mode

Someone denies involvement in something that went wrong... What a shocker....

What can we do....Customers are like this many a times...

Sirs,

I checked the logs and couldn't find anything getting written on these variables. I am more than 100% sure of this that the values are not getting changed at program level. However, I cannot say the same for human intervention as I am not on site and the issue is reported by the customer who already denied of any claim of changing these values.

I like the idea of changing these tags to constants but I am unable to understand why these tags have values other than zero if they were defined in $config with value 0 and not being changed anywhere.

Can KSS behave in a weird way with REAL variables?

Thanks

Hi All,

KRC2
KSS v5.5

I have been using REAL variables defined as an array of 2 in $config.dat.

DECL REAL A_ANG_OFST_A[2]
A_ANG_OFST_A[1]=-44.4099998
A_ANG_OFST_A[2]=0.0

DECL REAL A_ANG_OFST_B[2]
A_ANG_OFST_B[1]=44.4099998
A_ANG_OFST_B[2]=0.0

I am using these variables as an offset to manually input some values to offset the angle of the robot during a calculated motion. These variables are not set anywhere in the program. In order to value them, either I have to use teach pendant variable screen or to change it manually in config and copy the file in the robot. Initially the values set were 0 in these variables.

Yesterday, the customer had reported that there was a collision on the robot because of the value as can be seen in the above parameters. I triple checked robot code and found that whatever I stated is true and there is no way the values can be changed in the robot program. I asked customer if anybody changed these parameters and got reply that they do not know about these parameters and never altered them.

I also asked the customer to check these parameters on the robot this morning and the value got changed to 0.15 and -0.15 automatically (Please see attached screenshots).

I am failed to understand how come these values are getting changed by themselves without any intervention (human or program).

I request you all experts to throw some light on this issue.

Thanks

Yes, you can. KRC4 allows us to run the robot without SmartPad connected. You have to press a white button on SmartPad which will allow you to have few seconds to disconnect the SmartPad from controller without hurting the robot operation.

disconnect the batteries and power off and power on the controller. The controller should boot completely. Hopefully the issue will be resolved by cold boot.

how to reach there?

Thanks to all of you. After reading your replies I caught my mistake and fix it. I changed the variables COPY_A_ANG_OFST, COPY_B_ANG_OFST, COPY_C_ANG_OFST to REAL datatypes and everything worked like a charm.

Thanks again.

Hi,

Today, I successfully setup the remote access on one of the KRC2 robots.

Thanks

Quote from SkyeFire

There's some additional complexity here. First, in order to transfer Reals, you have to have a means to position the decimal point properly. Then, you have to deal with polarity.

For the decimal point, the simplest method is to multiply by 10^x on the transmitting side, to move the decimal point x places to the right -- in essence, converting the REAL into an INT (for a certain number of significant digits). Then, on the receiving end, you have to divide by 10^x before using the value. And, of course, you have to ensure that x is the same on both ends.

Handling +/- is more tricky. First, you have to remember this: KRL treats a multi-bit SIGNAL declaration as an unsigned INT, unless the SIGNAL is 32 bits in size -- then, and only then, does KRL treat it as a signed INT.

So, let's assume a simplistic 16-bit signed integer. If the 16th bit is the sign bit, then you have 15 bits of resolution -- your value can range from +32767 down to -32768. But the KUKA will only see it as ranging from 0 to +65535.

So, simple approach: in your KRL program, receive the 16-bit input, mask off the sign bit, divide by 10^x to get your decimal point back in the right location, then negate the resulting value if the sign bit was True.

Code

DECL INT TempInt
DECL REAL TempReal, FinalX
SIGNAL CameraInputX $IN[1] to $IN[16]
TempInt = CameraInputX B_AND 'H7FFF' ; mask off the sign bit
TempReal = TempInt / 100 ; move decimal place 2 places to the left -- adjust as needed
IF CameraInputX B_AND 'H8000' THEN ; check if Sign bit was set
  FinalX = 0 - TempReal ; sign bit was True, hence value was negative
ELSE
  FinalX = TempReal ; sign bit was false, value was positive
ENDIF

That's a very simplistic implementation, and can suffer from some rounding error on the lower digits, but it's worked for me in the past. However, it will depend on how the transmitting device is formatting the REAL value. If it's using IEEE-754 encoding, for example, this trick won't work. You'll need to do some research into exactly how your camera encodes it data for transmission.

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Hi,

I think I am facing a problem exactly what you have explained. I should detail the problem.

I am getting some values from Siemens PLC to offset the angles (A, B and C) while the robot is stacking a sheet. The range of these offsets should be +/-2 degrees. In my code, I am trying to take care of the negation i.e. overflow and the decimal points. Here is the code:

;In Config.dat
SIGNAL A_ANG_OFST $IN[2065]  TO $IN[2080]
SIGNAL B_ANG_OFST $IN[2081]  TO $IN[2096]
SIGNAL C_ANG_OFST $IN[2097]  TO $IN[2112]


INT COPY_A_ANG_OFST=0
INT COPY_B_ANG_OFST=0
INT COPY_C_ANG_OFST=0


DECL REAL A_ANG_OFST[2]
A_ANG_OFST[1]=0.0
A_ANG_OFST[2]=0.0
; 
DECL REAL B_ANG_OFST[2]
B_ANG_OFST[1]=0.0
B_ANG_OFST[2]=0.0
; 
DECL REAL C_ANG_OFST[2]
C_ANG_OFST[1]=0.0
C_ANG_OFST[2]=0.0
;


;In Submit (Background)
  COPY_A_ANG_OFST=A_ANG_OFST
  IF COPY_A_ANG_OFST>=32768 THEN
    COPY_A_ANG_OFST=COPY_A_ANG_OFST-65536
  ENDIF
  ;
  COPY_B_ANG_OFST=B_ANG_OFST
  IF COPY_B_ANG_OFST>=32768 THEN
    COPY_B_ANG_OFST=COPY_B_ANG_OFST-65536
  ENDIF
  ;
  COPY_C_ANG_OFST=C_ANG_OFST
  IF COPY_C_ANG_OFST_A1>=32768 THEN
    COPY_C_ANG_OFST=COPY_C_ANG_OFST-65536
  ENDIF


  A_ANG_OFST[1]=COPY_A_ANG_OFST/10
  B_ANG_OFST[1]=COPY_B_ANG_OFST/10
  C_ANG_OFST[1]=COPY_C_ANG_OFST/10

The problem is that the end result i.e. the values of A_ANG_OFST, B_ANG_OFST and C_ANG_OFST are getting rounded to the nearest integer value. I even tried to send the values in the multiple of 100 by doing so at both PLC and robot ends. I may implement the solution proposed by Skyfire but I would really like to understand the phenomenon as why the values are getting rounded to integers and are not with decimals even after using the REAL datatype.

BTW, the REAL tags are defined in arrays because I have two destination of stacking and the values are transferred to active destination.

Thanks

Quote from Love Bird

dear RS,
he confirmed me that he uses snapshot for KRC4. he creates and restores image via this software at KRC4.

Great and he did this without removing the Hard-disk from the controller and just by installing the snapshot on KRC4 and performed the steps as explained here:

http://www.drivesnapshot.de/en/backups.htm

Am I right?

Thanks

Quote from Love Bird

it was KRC2. I had seen one guy using another software for KRC4. I will contact him and update you about it.

Yes please. It is going to help lot of people.

Quote from Love Bird

Use snapshot or Hiren's Boot CD.
I have used Hiren's boot CD for creating HDD image and snapshot for images of CF cards.
Hiren's boot CD provide single image of all partitions while snapshot provides separate partitions image.

I have also worked on USB stick (with simple USB), In next 2 or 3 months I will test it and will give my feedback for alternate USB stick.

KRC2 or KRC4?

Hi,

Martin84 and Skyfire

Thanks a lot.

Ok great. I will give it a try.

I have another question. How should I assign IP address to the network card? I would like to configure the addresses in the subnet which we use to access other devices.

Thanks

Hi Martin,

What does it mean by older system? On what kind of systems, tightvnc should be used?

Thanks

So to install VNC, I should use the KUKA HMI option, right?

After installation, will I need to change a port or something?

Any additional settings?

Thanks