Use an interrupt to hold your program.
Posts by jemi_3tech
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Check this thread Last post on page 2 - very use full tread btw.
https://www.robot-forum.com/robotforum/kuk…ed-features/15/ -
I get the idea - and have looked in to it myself, but have not tried it yet.
The biggest issue i see is that maybe the code is PLC, but you still have to know how a robot works and all the different motion types - our costumers usually just sends their techs for training.
And we keep the techs out the program for the warranty period anyways.
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How do you declare and initiate your variables?
I declare like this .dat file.
DECL GLOBAL INT VariableName=123456 and of cause i do not initiate the variable.This works just fine.
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I use browse command from WV retrieve the project from the robot make the changes and then deploy.
You can export individual files when working in WV so you can make changes a the office, export the files you worked on and then retrieve project from robot, import files and deploy. -
Without X11 and no external safety PLC i think you are gonna be a little lost.
X11 is an option but needed for hardwired safety. -
Disabling operating modes:
You can disable #T2, #AUT and #EXT on the robots, the function have moved around a bit and is placed in to different places on 8.2 and 8.3
In 8.3 it is placed in C:\KRC\ROBOTER\Config\System\Common\CabCtrl.xml
In 8.2 it is C:\KRC\Roboter\Config\User\Common\CabCtrl.xml
XML tag: <OpModes T2="on" AUT="on" EXT="on"/>
Just change to off to disable and reboot with reload files.
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If you set it to auto it will reset it self, it works at least on the robot i am working on at the moment.
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Does the robot move the bridle while, or does it move to fixed positions?
I would properly use a external safety controller and let it control the bridles if the robot does not move it during welding.
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It depends, you could properly wire up some buttons that moves the robot relative to current position, this would of cause only work when operator safety is okay.
But we would need to know more to give you a specific answer, but the only issue i can see is that you really need to know what you are doing with your safety, but a deadman switch and reduced speed controlled by external safety PLC could be your answer.
I think that MX automation is a bit over the top for this.
Anyways the cheapest solution is properly just to teach the operator to use the teachpendant.
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Just got the documentation along with US sales engineering's take on it. They say that in 8.3.X it doesn't play well with any other tech packages. For me that's a problem because we use a lot of SafeOp. They said it should be less of an issue in 8.4.XSo I'm going to sit out for a bit and stick with my state machines in the vanilla submit.
It should work with SafeOp
Release notes:
Quote
===========================
R E L E A S E N O T E S
===========================MultiSubmitInterpreter 1.0 for KSS 8.3
Copyright (c) 2012 - 2014 KUKA Roboter GmbH
All rights reserved.
November 2014MultiSubmitInterpreter 1.0 (18.11.2014)
----------------------------------------
New Functionality:
=================
1. Enables or disables MultiSubmitInterpreter functionalitySoftware description:
====================
1. KUKA.Multisubmit activates the MultiSubmit functionality in the KSS,
whereby - in addition to the known system submit interpreter - up
to 7 additional submit interpreters can be used (extended submits).
2. Please note: For some system variables have been changed, please
see documentation before use of MultiSubmit functionality.System Requirements:
===================
1. KRC4 (all types)
2. KSS V8.3.12 and higher versions of KSS 8.3
3. Note: Not compatible with other versions of KSS 8.x or VSS 8.xCompatible options:
==================
1. KUKA.KRmsgNET
2. KUKA.Gripper&SpotTech
3. KUKA.UserTech
4. KUKA.ExpertTech
5. KUKA.smartPADRotation
6. KUKA.ConveyorTech
7. KUKA.VisionTech
8. KUKA.EthernetKRL
9. KUKA.PLC ProConOS
10. KUKA.PLC Multiprog MCFB
11. KUKA.LoadDataDetermination
12. KUKA.CNC
13. KUKA.ArchTech Basis
14. KUKA.CPC
15. KUKA.Ikarus T3
16. KUKA.RemoteService
17. KUKA.SafeOperation
18. KUKA.SafeRangeMonitoring
19. KUKA.SafeSingleBrake
20. KUKA.DiagnoseSafety
21. KR C4 PROFIBUS
22. KUKA.ProfiNet
23. KR C4 EtherNet/IP
24. KUKA.NonAdminMiscellaneous:
===========
1. No support for KSS 8.3 with version below 8.3.12.
2. No support for VSS 8.3I am still waiting for the software and i am hoping it works with OPC but it is not mentioned in the lists.
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Talked to my sales rep and he says it is free but he does not know how to order it, he is looking in to that at the moment.
I take no responsibility for the information above
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yes...not much to it... install it and it works.
you get eight SPS tasks, and since they are separate tasks they don't hold each other, it is fine to use WAIT commands if you are really inclined to do so - you can always have one task that runs fast...
I have not tested it yet but it should be possible to have completely independent asynchronous external axes.
So i assume it is something we have to buy from Kuka.
It better be cheap then else i would rather have a real PLC -
Yeah, should be auto according to KUKA support, I had this problem a year ago and they told me to set this to auto. And it have been working since that change actually.
Nice info thanks.
Does anyone know how to reset manually without rebooting the entire PC?
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Try upgrading the firmware on the robot, since the EtherCat support is supposed to be improved.
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Go into the menu -> Configuration -> Safety configuration -> hardware options - there you can set Operator safety acknowledgement - if you have en external safety device (relay or PLC) set it to external device.
Of cause this requires an external safety device - else your safety might not be okay - but that is up to you to make sure of.
You would properly need to be safety maintenance user at least -
Make sure the robot is not connected to the internet or any equipment it does not need to talk to - keep your network segmented in as small segments as practically possible. Absolutely no office computers on the same network as the robot!
And try to keep the robot updated as much as you can - i know this is not very likely as Kuka updates are generally quite strange... we had one that changed the Z direction on the robot... But try to upgrade just once in a while.
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Where are you located?
Kuka in Sweden still has KRC2 in their training facility - at least they had last summer. -
According to our sales rep no... He could not tell me what it would cost, since it is not an option in there system.
I am thinking that you can do something with OPC and some homemade software and some modbus TCP dll's from the internet.
But that is not a very nice solution.