Posts by s2007.ravi

Hi All,

Please help me with the step by step procedure to setup VNC on a KRC2 controller. I setup VNC several times on KRC4 controller but never got a chance to do it on KRC2. It looks like I am going to perform it on one of the KRC2 controllers at the customer site soon.

Thanks

Quote from AndrewWang

it's a IDE-USB adapter,you can try to find it in e-shop(like ebay,amazon).For each image backup or restore,you have
to disassemble
the hard drive out of controller and process image in your Pc side.

来自我的 MI 5s 上的 Tapatalk

Ok understood.

Thanks

Quote from AndrewWang

A software named 'aconis True image 'is recommended .Since KRC2, we have been using this software to back up the image of controller harddrive. Before doing the backup, you have to have a set of adapter which can connect your PC with HDD.

来自我的 MI 5s 上的 Tapatalk

Will it work on KRC4 controllers? How can I get this adapter?

Thanks

Quote from the leg

Always worth it and so much faster

Logicube is the brand

Unfortunately, not available in India.

Quote from the leg

I have a hard drive cloner and you can leave the Kuka in place and only plug the data cable will clone a drive in under 3 mins it's also got a USB connection but I have never tried it.

The Kuka sticks are good but cost too much and they do take a while to preform

Would this cloner be helpful in my case?

Quote from cian temp

Don't have a KRC4, but if it work the same as KRC2 then Ghost should work. I have backed up all 6 KRC2s' HDD to my laptop then clone it to SSD, work smoothly and even better if you upgrade the RAM to 1G run even faster.

Sorry Sir!!!

It doesn't work as I have already tested during my last visit to the customer site. For now, we do not have a new KRC4 robot in our facility. We are expecting it to arrive in few months and then I will try out steps mentioned by the seniors above.

Thanks

So, only two possibilities...

1). Buy a KSR from KUKA.

OR

2). Use third party backup tools and persuade customer to let remove the hard drive to create an image.

Thanks

Quote from hermann

You also have to stop the robot if You use the USB-Stick from Kuka. So it makes nearly no diffenrence, if You use the stick or an external solution. The difference is the dismounting, attaching the disk to an USB-interface and mounting again to the cabinet. Not more than 2 minutes, if everyting is prepared well (Notebook with USB-interface for harddisk ready on place).

Thanks. I know it should not be time consuming. But, we all know customers are apprehensive when it comes to play with hardware without any obvious reason. I will try to give it a shot and try to persuade the customer to allow me to perform this activity for their good.

Thanks

That's not a good news. I cannot take out the harddisk as it belongs to customer now and by no means, customer will allow me to stop the robot and perform this task.

Alas! I think its time to contact KUKA to ask for a quote.

Thanks

Hi All,

I am interested to know if there is a software which can help me to make a disk image of KRC4 controller in case I do not have a KUKA recovery USB.

I used NORTON to make the ghost of KRC2 controllers a lot of times but failed to do so on KRC4.

Please suggest.

Thanks

I found the problem. The reason behind the error was the parameter calculated. My logic calculates the value to be a REAL but the KUKA global function (to display parameter message) has input parameter as INT.

However, KSS threw error only when the calculated value was in between 0 to 1. In all the other cases, the calculated parameter get rounded up to nearest integer. Any thoughts?

For now, I have changed the input parameter data type to be Real in MsgLib.src file to resolve my issue.

Thanks

You can try like in the image. I am not a mechanical guy who designs this base but we have been using these pedestals in quite a few projects.

Anybody...

Hi All,

KR120 R2500 PRO C4 FLR,Robot
KSS 8.3.9

I am facing the error mentioned in the subject line on one of the robots on our line when the Robot is executing the line highlighted (in Red) in code shown below:

But it doesn't face any problem while executing the line highlighted (in BLUE) in the code shown below:

LIMIT_R_X=ABS(250-TOOL_DATA[10].X)
      LIMIT_R_Y=ABS(Y_PICK-(VISION_SIDE*TOOL_DATA[10].Y))
      LIMIT_R_ACT=SQRT((LIMIT_R_X*LIMIT_R_X)+(LIMIT_R_Y*LIMIT_R_Y))
      ;
      IF (LIMIT_R_ACT<=LIMIT_R_MAX) AND (LIMIT_R_ACT>=LIMIT_R_MID) THEN
         OK_POS=TRUE
         IF (DEBUG==TRUE) THEN
            [color=blue]MsgNotifyTextPar("Max.Robot Limits within range by:=%1", "ROB:", LIMIT_R_MAX-LIMIT_R_ACT,,,1)[/color]
            [color=blue]MsgNotifyTextPar("Min.Robot Limits within range by:=%1", "ROB:", LIMIT_R_ACT-LIMIT_R_MID,,,1)[/color]
         ENDIF
      ELSE
         IF (LIMIT_R_ACT>LIMIT_R_MAX) THEN
            CONTINUE
            PULSE (SO_ROB_ERR3,TRUE,3)
            CONTINUE
            [color=red]MsgNotifyTextPar("Max.Robot Limits exceeded by:=%1", "ROB:", LIMIT_R_ACT-LIMIT_R_MAX,,,1)[/color]
         ENDIF
         IF (LIMIT_R_ACT<LIMIT_R_MID) THEN
            CONTINUE
            PULSE (SO_ROB_ERR4,TRUE,3)
            CONTINUE
            [color=red]MsgNotifyTextPar("Min.Robot Limits exceeded by:=%1", "ROB:", LIMIT_R_MID-LIMIT_R_ACT,,,1)[/color]
         ENDIF
      ENDIF

I am using the default syntax to display the messages provided in msglib.src and all the other messages are getting displayed without any problem including parameter messages.

I also tried to tweak a little bit the syntax written to see the error goes away but no success.

Please suggest what I am missing here.

Thanks

Quote from Ceta11

Thank for replying Skyefire.

So, first question: what variant of the KRC2 is this? Volkswagen? GM? "Vanilla"? Ford?
VW KRC2 (it was inspected and certified by KUKA).

Normally the standalone jumper is placed on X11 -- I'm not familiar with XS2, offhand (granted, it's been over ten years since I did a KRC2).
Same on XS2. I have the dwgs. schematics and references.

Win95 or WinXP? ed-2005, or earlier?
W95 2004

What version of KSS is it running?
KS V5.74 2006 release.

What option packages does it have installed?
Don't know.

http://www.robot-forum.com/rob…a-robot-forum/read-first/

Does it have a servo disconnect?
Don't know

When you acknowledge the error messages, which messages remain that won't clear?
1) Ext Emergency Stop - You have a problem with X-11 circuit. Check electrical circuitry.
2) Drives contactor off - It will not be OK until you solve above problem
3) error on reading driver Interbus and
4) error on writing driver Interbus

Error 3 & 4 are related to communication of the controller with peripheral devices. What is you communication protocol? For Eg: Profibus, Devicenet or Serial?

A lot of what you need is available in the Manuals, Software&Tools sub-forum next door.
Can't find that sub-forum

http://www.robot-forum.com/rob…nd-tools-for-kuka-robots/

KRC2 manuals are pretty plentiful, although electrical schematics are a little harder to come by (all those sub-variants...).
I have ALL the electrical schematics on paper from KUKA, came with the Controller. And got the XS2 also.

Display More

I may help you little bit. Please see in BLUE above.

.DAT file is not really necessary if the variables used are declared in Config.dat or in .src file itself.

Check your .src file and see if you have the used variables declared in the declaration section itself.

You didn't explain the problem.

http://www.robot-forum.com/rob…a-robot-forum/read-first/

Quote from Dig

Everything has been changed but now i got 2 comunication error:
one with plc and one with wago card...I think i'll give up and let the customer buy a new
device net card, i really don't understand how is possible than an error message is so generic...
I'd even prefer if the krc tell me "you're jerk pall! You forget this...." but not "communication error" for plenty
of wrong configurations...

I agree its a big pain do hardware config in KRC2 especially with Profibus as you are forced to use Siemens protocols. The last time I did this was 2 months back and had to do in a bit hectic schedule because the robots were in production and had to add an additional festo module. But at the end, it went precisely as I wanted.

The communication error is resultant of wrong hardware configuration (may be because of wrong article number, part number, profibus address, IO configuration, settings of individual components etc). I suggest that don't give up as Profibus is better than devicenet in many ways and once the setup would be done you won't regret your work done for it.

Try to find a way to send us the backup of the robot, your communication setup details and any other detail which may help. We may try to help you out.

Thanks

Notepad ++
OrangeEdit
Work Visual
etc....

You have to use Teach Pendant to modify the FDAT values. I am not sure but you may use OrangeEdit as well.

BTW, did you try to see the inline form after opening the fold. What does it show for FDAT_ACT?