Posts by K-Bizzle

Hi All.
I am an experienced Controls/Robotics engineer with quite a bit of time programming Fanuc, Motoman, and Epson.

Currently I've got access to some Kuka robots and would like to begin self teaching myself as time allows.
Basically I'm wondering what kinds of online resources are available for self training (didn't find anything on Kuka's site) or what route those of you with experience would recommend for self teaching Kuka when coming from other brands.
(aside from RTFM, lol)

Ultimately the goal for me is to be able to do system design around Kuka as well program the robots directly.
Any direction or insight you all can provide will be much appreciated.

Thanks!

Quote from SkyeFire

Faster, in what way? Most especially, in what operation mode?

For example, the KUKA iiWA can move at speeds similar to a non-collaborative robot in the same payload class... but not in collaborative mode. Any cobot operating in collaborative mode (that is, with humans within its unprotected reach), must operate at very reduced speeds, in order to satisfy the RIA safety requirement. This is not influenced by brand or model, but by the strict limits on total kinetic energy and safe stopping distance.

Thanks for the reply Skye.
As you mentioned they must move at reduced speeds but I wasn't sure if any had superior tech in sensing, torque control, collision stopping, or otherwise that allow them to run slightly faster and still meet safety requirements.
Main reason I ask is it seems like the URs moved faster through space than the CR7 however it could 100% be my imagination.

I've used Fanuc's CR7 and Universal UR5/10s in the past and all left to be lacking in the speed department.
I'm considering a new project that will require a collaborative and I'm wondering if any of the other options are any faster.
I know there are obvious speed limitations due to collaborative needs but I'm just wonder if any of the other options (Kuka, Motoman, ABB, etC) offer slightly faster collaborative models.

What does everyone say?
Any experience will be helpful.

I've used both Fanuc and Motoman extensively and for what its worth I much prefer the Fanuc UI to the Motoman/Yaskawa UI.

From a reliability standpoint they're pretty much the same and for us (system integrator for both brands) the prices with the specific software options we need are borderline identical all in.
Fanuc does tend to nickel and dime you for options but if you don't need a ton its not much of a factor.

As I said I typically prefer Fanuc to Motoman on the UI alone. Easier to integrate and much faster to program. Plus I think Fanuc's motion modifiers are much better than motoman (tool offsets from points and the like).

Thanks Rafahil, I've already got the UOPs working to enable the robot.
I just don't understand where/how to setup the group inputs to use the style selection.

I have integrator level access to CRC if anyone can point me in the right direction there.

Ok nevermind, looks like theres some Cell option I've never seen before in Setup that was checking a DI for cycle start.
I've set to UOP and the change stays now.

Only question is where do I set the remote call type in this controller?
I'm used to R30iBs where I can select this in System>Config.

When I'm attempting to start I get error code: APSH-057 No group input for style code.
I've setup my programs in the Style table, however I'm not sure how to proceed from here since I've only used PNS in the past and I don't have any UOPs with descriptions past UI 8.

Hi all,

So I'm trying to get a cell going using a used RJ3 and S-430 robot.
I have UOPs enabled and they appear to be working normally.

My problem right now is I cannot get the remote calling working with the specific issue being that I cannot get the Start for Continue only to stay False.
I've tried changing this in System>Config as well as going through System>Variables>$Shell_Cfg>$Cont_Only> False.

I've changed, I've rebooted as it prompts, and upon reboot it is returned to True.
Any ideas guys?

Thank you.

I believe there is and I can see where you might be going with that.

Anyway I've decided to make the robot program pretty "dumb" so I can control all this stuff in the PLC that way I don't need to worry about it.

Hi all,

Been awhile since I've posted.
Anyway I'm used to R30iA, R30iB, and R30iB Plus controllers however I'm working with an RJ3 for the first time in awhile currently.
This robot was purchased used so its past isn't super clear.

What I'm trying to figure out is how I can send values to registers on this controller/robot.
Heres what I know so far:

1) I cannot find an ethernet port anywhere on this controller. I'm used to the R30s where this part is fast/easy.
2) When I go to Setup>Host Comm I do have an option for TCP/IP. It does seems like I can enter addresses here.
3) When I go into I/O>Type I do have device net listed. I know nothing of device not so I'm not sure if this really matters.

Ultimately how I'll be using this robot I'll be using I/O through an ABU05A/AIF01A/AID32E1/A0D32C1 module.
I'm not too worried about figuring out this part and addressing all these I/O for UOP and Digital but I'm just wondering what options I have for sending values (through any means available) from the PLC to the robot.

Thanks in advance guys.

Yeah I have access to CRC and know how to get to the manuals, I just didn't know what manuals specifically would have that sort of information.

Quote from Robot_dr

It sounds like most of what you want to restore, is I/O related stuff. You could restore the DIOCONFIG.IO or DIO.IO file from an "All of the above" backup on an integrated robot, to the new one your integrating. Then cycle power. Everything should be there.

That sounds like a pretty solid option.
I think I could really benefit from a better literacy of the different files where all the data is stored on the controller.
Any idea as to which manual I'd find this information?
We are an authorized integrator so I have access to any documentation I need I just am not sure where to start looking.

Hi guys because my company integrates robots with our machines the same way every time regardless of robot size (typically either a 200iD or a M10iA) I'm looking for an easy way to back up and store basic set up aspects so I can just upload rather than handle these manually.

Specifically I'm looking at things like MODBUS/IP setup, DO/DI addressing, UOP addressing, and the like. I'd also like to keep the saved DO/DI comments and the data that is not positional in our interference check set up.

I already know how to do a full back up image but doesn't this override EVERYTHING? Including options and such?

I've got a lot of automation and robotic experience but am still very new to Fanuc so please pardon my very basic question, I just want to be sure I'm doing this correctly and the most efficient way possible. FYI we do not and probably never will have roboguide unfortunately.

Turns out when using interference check with a single robot you still have to set it as both the master and member.

We got our problem fixed and are using the interference check now.

Good morning guys.
I am working with a Fanuc M-10iA 12 with R-30iB controller.

Right now we are trying to integrate the interference check option with our machine and having problems.
What we've done so far is set up the robot, hand, and fixture models.
When we go into check combination set up to set the I/O and set the fixture to critical zone we get the error listed in the title.

According the the Alarm Code List Operator manual we need to "Perform the calibration between the group and base frame group."

So far we've not been able to figure it out here and are waiting for a response from Fanuc but figured it couldn't hurt to ask here as well.
Any help would be appreciated, thanks guys.

Which controller are you using?

On the RC180 there is a separate input for door safety.
I could be wrong but I think if you used this instead you would be able to move the robot in free mode since I think the dynamic brake only comes on when in emergency stop but not when door safety is tripped.

I could be off on this but when I'd looked into it before (never ended up implementing) that was what I had deduced.

Sachin I've not used the C4 but have had excellent experiences with Epson's G series (3,6, and 10 specifically).

If a Scara would work for your application Epson's offerings are quite fast, easy to program, and reasonably priced (from our distributor that is).