On a KRC4 running KSS 8.3.xx, where is the number of hours between BRAKE tests stored? I believe the default is 46 hours but I want to double check.
Posts by BluesMatt
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Yes, that's what I would want.
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I have a situation with a 3-MGU positioner where E1 should only be moved if E2 and E3 are in the correct spot.
I have a sub-program that looks at the position of E2 and E3 prior to moving E1 and if E2 or E3 are not in the right spot, a MsgQuit command is run forcing acknowledgment from the SmartPad. This will probably suffice for now but it got me thinking. Has anyone every wired a doubled poled relay in-line with the E-Stop circuit (X11) and used the same software that checks the position of E2 and E3 to switch the relay thereby triggering an E-Stop?
I was also looking for a KRL command to do the same sort of thing. What I found was ROB_STOP () to be used in the SPS but have not tried it yet.
I imagine SafeOperation could solve this problem for me but I do not have that software on this robot.
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Looking in $machine.dat, I see 4 outputs that seem relevant:
$STOPMESS $OUT[1010] <-- goes OFF when drives are engaged using the SmartPad
$USER_SAF $OUT[1011] <-- goes ON/OFF when drives are engaged/disengaged using the SmartPad
$PERI_RDY $OUT[1012] <-- not changing as I engage / disengage the drives using the SmartPad
$SPOC_MOTION_ENABLE $OUT[1015] <--goes ON/OFF when drives are engaged/disengaged using the SmartPad$STOPMESS appears to go ON after an error occurs that stops the robot
The other 3 are not in my copy of the System Variable pdf.From the names, it seems like [1015] is the one to use, but I'm not sure. Would this output ever incorrectly represent the status of the drives?
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Swift Tao: Did you solve your problem?
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Has the root cause of this problem been discovered?
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I'm looking for a $OUT[xx] that indicates when the servo drives are on or off. I found $OUT[1011], it is labeled as SYS, and appears to go on/off when engaging the drives on/off using the SmartPad. The same is true for $OUT[1015]. I need this because I need to turn an indicator light on/off on my HMI screen when the drives are on/off.
Are either of these outputs an appropriate one to use?
Which $OUT[xx] is used to pull the contactors in?
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Yes, the robots actually work independently of each other. It is only the PROGSYNC commands that force the robots all to be at a pre-programmed spot.
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I see it now.......under Edit then Clean data list.
thanks
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PanicMode: I did try the MsgQuit approach and I think I will use this as just another check. Do you know where I can find documentation on MsgQuit? I have a ton of KUKA pdf's but can't find anything on this.
tbex: I will look into using SafeSingleBrake, thanks.
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I recently went through an exercise where I had to manually edit some points in the .dat file. Since the .src had been changed many times, there were points in the .dat file that were no longer referenced in the .src file. Is there a way native to KUKA to purge the unused points from a .dat file?
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Interesting idea NoMad, thanks.
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Thanks for the replies.
I need to learn more about MsgQuit. What manual has the details? I looked thru several pdf's but didn't see it.
I cannot think of a way to prevent the user from crashing the robot while jogging the robot. For me, it always boils down to training the new robot user well enough. I have been asked to come up with a way hence my post.
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KRC4 with KSS 8.3.17
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I have 3 MGUs in my positioner. E1 is used to rotate a large vertical wall (6' wide x 4' tall). E2 is on one side of this wall and is used to rotate the tooling/parts on this side. E3 is on the other side of the wall also used to rotate tooling/parts on that side of the wall.
The challenge is that the tooling (E2 and E3) needs to be in a certain position (location) so that when E1 rotates the vertical wall, there are no collisions between the moving tooling and the walls used to enclose the cell. Said another way, if the customer uses the pendant to jog E2 or E3 manually and then attempts to spin the wall using E1, a collision is likely to occur (unless E2 and E3 are left in the correct positions).
My question:
Is there a way to prevent E1 from moving if E2 and E3 are in the incorrect position while manually jogging the robot using the pendant? -
I was told by the KUKA SAE that there was a memory leak in the version of KSS we were using and that updating the KSS addressed this problem.
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Are you working with an Integrator? If so, they should be able to help. If not, you'll have to use the KUKA doc to wire X11. Start with a simple circuit (say an operator door switch) to test your understanding. Then add more signals like light curtains, laser scanners, etc.
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Have you ever been able to get a WoV project activated on this controller?
If not, where did you get the controller? Is it new and under warranty (it seems so because you are running new code)? If so, KUKA should be able to get a WoV project working for you.
If so, what has changed with the controller and/or your WoV project? Can you reverse those changes and have your project activate? If so, can you implement 1 change at a time and test to make sure the project still activates?
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Do you have a PLC in your system that you could use?
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If you are lucky enough to get Troy, he's pretty good.