Posts by RobotBR

Hello Brothers!

I´m really needing the maintenance manual for the KR16 2 C2 FLR ZH16 2, specific the Oil change. I have the KR6 / 15 manual, can it help?

Ty all.

Hello guys,

I´m having some troubles whit these bits. I have to send these signals to the PLC so we can track and block the robot moves in manual 100% for safety reasons. In the KRC2 we already have those signals declared and ready to use but in S4 i´m stuck in how to use the signals MAN2, MANFS2, since i can´t create cross connections with them. Any idea will be helpful!

Tyvm.

Hello masters,

I have some questions about how to create a new tool, a gripper, to be more specific. Reading the Rapid Manual, I found some info about how to declare Tooldata, Loaddata, creating TCP, etc, but how can I determine these values? Some examples:

1 - PERS loaddata piece1 := [ 5, [50, 0, 50], [1, 0, 0, 0], 0, 0, 0]; The center of gravity is x = 50, y = 0 and z = 50 mm;
2 - PERS tooldata tool_griper:=[TRUE,[[-132.546,1109.82,486.559],[1,0,0,0]],[176.4,[11.6,41.5,166.8]; The TCP position, the CoG and the moment of inertia.

I have some experience in KUKA KRC2 and i can run a sub routine called Load Determination to grab all this infos a past to my declared tool. There is a similar program on ABB IRC5? Or another method?

Ty guys

Tyvm!

I also found the declaration on a module in the HOME directory (IRC5 IRB6640):

PERS loaddata load_secretname1:=[34.3,[10.6,-75.6,334.9],[1,0,0,0],77.891,11.357,73.425];
PERS loaddata load_secretname2:=[45.6,[68.5,-1181.1,-134.6],[1,0,0,0],0,35.6,14.7];

Hello guys,

I´m needing some help about the GripLoad function. In the middle of the program I have to change the grip load data between 2 values:
GripLoad load0 and GripLoad loaddataexample.

Where i can find the variables declarations and their respective values?

Ty all.

Really Thank you guys