Posts by iceman999

FYI: there are no option packages under D:/KUKA_OPT

Hello.

I just got refurbished KR30 HA with KRC4 from Kuka dealer. I also ordered to install X11 safety board and connector, but they forgot to install Profinet Option Package. I have Profinet version 3.3.

Does anyone have suitable option package? I think it is called Profinet KRC-Nexxt V3.X.X...

Thanks.

Regards.

I have KSS 5.6.12 with KUKA.SafeRobot=V2.2.8. Daimler edition with Siemens ET200S Profisafe.

I use X211c connector for eStop and safeguard signals. Safety signals seems to work fine.

I disabled safe mode and i can jog in T1.

IO mapping (signals from machine.dat):

SIGNAL $MOVE_ENABLE $IN[1]

SIGNAL $DRIVES_ON $IN[2]

SIGNAL $CONF_MESS $IN[3]

SIGNAL $EXT_START $IN[4]

SIGNAL $PERI_RDY $OUT[6]

SIGNAL $STOPMESS $OUT[7]

SIGNAL $PRO_ACT $OUT[8]

I usually use this method to start the robot:

set $DRIVES_ON and reset it when i get the signal $PERI_RDY=1

then set $CONF_MESS and reset it when i get the signal $STOPMESS=0

then set $EXT_START

But the problem with this robot is that when I set $DRIVES_ON, the drives do not start and the signal $PERI_RDY=0

I hope it is more clear...

I'm using standard startup procedure on my Kuka robots:

$MOVE_ENABLE - bit true from PLC

start procedure:

$DRIVES_ON - pulse when starting the drives

$CONF_MESS - pulse after drives are on

$EXT_START - true signal after no error present

It always works. Do Daimler robots have a different procedure?

I tried with constant TRUE signal on $DRIVES_ON but no difference...

Hello.

I have a problem with Daimler KR210 KRC2. I can jog the robot, but when I switch it to EXT the drives won't start. I have Siemens PLC and communicating with profinet (CP1616).

I'm using the same start procedure as with all my Kuka robots (20+), but this one is the first from Daimler...

Alarm on KCP is "ACTIVE status required".

Can anyone help?

...

Hello,
I worked on several KRC2 with CP5614 Profibus card with no problem. Is there some kind of restriction if I use CP5614 on KRC1 V4.1.7 SP08? Does CP5614 works on every version of KRC1?

Thanks.
Regards.

Hello,

I have a project where I'm stacking products one on top of the other. I'm stacking with low velocities, but other movements are much faster, because of cycle time. I would like to integrate some safety if torque exceeds. Which method is the best for those kind of things? I'm thinking of decreasing system variables $TORQMON_COM_DEF for each axis at low speeds and then increase them at high speeds. Is there better way to do this?

Thanks.
Regards.

Ok, thanks!

I swaped bytes on PLC side for inputs and outputs, using:

L     MW   100
CAW   
T     QW   100


L     IW   100
CAW   
T     MW   200

Easy fix
Thanks again.

How about negative values?

Hello,
I'm using KRC2 with Siemens CPU317 connected via Profibus. Robot is a slave. Profibus is working correctly, I/Os are mapped:

[PBMASL]
INW0=127,0,x4
OUTW0=127,0,x4

Signal is declared in config as 16bit variable:

Signal Offset $IN[9] to $IN[24]

I'm sending word (QW100) form Siemens PLC, but there is some kind of conversion going on. When I send 1, I get 256 in variable on KRC. When I send 2, I get 512 and so on. But when I enter number above 258 I get 513, so I can't just devide every variable with 256. There seems to be some kind of byte swap between S7 and KRC. How can I set the byte swap?
The idea is that I would use a 16bit variable so I could enter values from -32768 to 32768 and get the exact same number on KRC.

Hi.
Is it possible to change the programmed velocity in increments of 5%? 1% is to low, but 15% is too much .
I use KRC2 ed2005.

Hello,
I would like to use KRC2 with CP1616 PCI card, to communicate with Siemens CPU with ProfiNet. I have GSD for CP1616 in S7, but now I need Profinet driver to install it on KRC2. In manual it says that is on CD named KUKA ProfiNet IO options CD. Where can I get one? Does anybody have it online?

Regards.

Ok, thanks. I will set the output inside the program and then I will watch when it is set in SPS and use the $CMD command to RESET or CANCEL the program.

Hi!
I'm doing an emergency program for my Kuka robot to get it to the HOME position. When it gets to the HOME position I want to CANCEL or RESET the program, so the operator of the robot cell has to activate starting sequence again in order to start the implementation of the program.
What command do I have to use to do this?
Can I do this inside the current program or do I have to implement this into the SPS? I would rather do this inside of a current program.
I was watching the commands "CWRITE($CMD,STAT,MODE,"CANCEL 1")" or "CWRITE($CMD,STAT,MODE,"RESET 1")". Are they just for SPS implementation?

Thanks.