Hi all,
I need flag which indicates is KUKA moving at now or not. Is this flag in KUKA?
Hi all,
I need flag which indicates is KUKA moving at now or not. Is this flag in KUKA?
Hi all,
I have KUKA (KR C4) with measuring laser at flange. KUKA should move in AUT over the edge of object. I need to record position of KUKA when laser has extremum (shows the smallest distance).
Is the best way to process data from laser and recording position in .sub? I can't do it in .src because of a motion.
Hey, Vlad222.FANUC controllers can't load/read/execute karel source files (*.kl). You should use RoboGuide to convert the sources to p-code (*.pc) first.
The options you have installed at your controller enalble the load and execution of *.pc files.
Thank you, massula!
I need to get small .pc file. I think I will use trial Roboguide. I have old installer from official site.
I need rating with comparison of CAM-systems for industrial robots (RobotMaster, DelCAM Robot, SprutCAM Robot, etc.). May be somebody came across it?
I want to translate my prog from .KL to .PC. I don't have Roboguide.
Text of program:
-- hello_world.kl
PROGRAM hello_world
BEGIN
WRITE('Hello, world!',CR)
END hello_world
I have KAREL options (pic. 1).
I push F3 "LOAD" but there is error "File UD1:\HELLO_WORLD.KL is not loadable" (pic. 2).
What is wrong? How can I translate .KL into .pc?
I am new in FANUC. I have LR Mate 200iD with System R-30iB. I heard that two options installed on this controller: R632 - KAREL and R648 - User Socket Messaging but it isn't sure.
How can I check it? Is on Fanuc menu with all installed options?
I am new in FANUC. I have LR Mate 200iD with System R-30iB. I need to send raw or xml data to robot from external PC. For example FANUC is server and external PC is client. What option do I need? Can I use something free or I need to buy option "Socket Messaging" or something else?
273? Oh good grief, they calibrated the temperature reading to the Kelvin scale?
Personally speaking, I never found the "zeroing" on those values to be very good -- the temperature variations across the motors on a robot that had been sitting still for 12hrs were just too big. But the deltas were pretty reliable, from what I could see.
I was doing tests for the affects of thermal expansion on robot accuracy, and so to establish our baseline I ensured the test robot sat unmoving and unpowered overnight for at least 12hrs, so that all the motors were at ambient. Then I ran a test program that worked the robot very hard (a KR500 with a ~400kg steel block mounted to the A6 flange, running every axis at 100% speed and acceleration) for 8-12hrs, and logged $MOT_TEMP periodically, along with triggering a metrology system that measured the robot's accuracy at multiple points. Then we correlated the accuracy errors to the temperature changes.
Which is a long-winded way of saying, you may want to check the accuracy of your $MOT_TEMP values by establishing what each motor reports at a known temperature. If you check $MOT_TEMP when the robot has been sitting still overnight, before applying power to the motors, and compare those values to the ambient air temperature near the robot at that moment in time, you should obtain a reasonably accurate per-axis offset (in addition to the 273deg Celsius-Kelvin difference) that you can use long term.
OTOH, the accuracy of $MOT_TEMP may have improved since I did that experiment (which was nearly 10 years ago, now), so going this extra mile may not be necessary.
SkyeFire, Thanks a lot for info of accuracy!
I have error KSS26018:
"Ackn. Max. motor temperature exceeded (A5)" (in the picture).
Where can I find what temperature is max for A5 and other axes?
I want to check $MOT_TEMP all time and if it is close to max - for example reduce speed or something similar.
A5_temp_degC= $MOT_TEMP[5]-273 ; subtract offset
Thank you, panic mode!
I have another one question...Where can I find variables - max. temp. (limits) on motors?
I have max. motor temperature on A5 and I want to regulate ventilation (cooling) in robot cell. How can I monitor temperature on motors?
I have found only $PHGTEMP but it is temperature inside KCP.
Problem is solved : )
It was our error with similar points in spline))
Hi,Any advance run stopping commands inside the second up? Please not that the standard INI-Fold holds advance run breaking instructions.
Fubini
There are no INI in the second subroutine.
I have KUKA KR6 R900. I have two .src with ptp motions. Ptp with approximation. When robot ends executing the first prog and starts second prog it stops. If I use ptp in one subroutine - motion is good without stoping.
I need two different .src progs without stop between them. How can I do it?
$ADVANCE is 3
$STOPNOAPROX is true but there no error. Robot approximates motion, but has a brief delay between subroutines.
hello
they are neccesary a little more information
where are you from?
I am from Russia. We think about using Motoman. I calculate path of the robot at external PC and I need to send coordinates to robot through Ethernet, TCP.
I have C++ program at external PC, I can make there server or client. I use EthernetKRL in KUKA. Does Motoman have something similar? Can I use MotoGSI for this task?
I don't have robot yet but I think it will be new model.
I am new in Motoman. I want to create Ethernet TCP connection between robot and external PC and send path to robot. Can I do it with MotoGSI? I need something like EthernetKRL (KUKA).
Hi Everyone!
I am choosing a PhD subject connected with industrial robotics. I have been working hard for the past two years with KUKA (writing on C++ something similar to automatic (without operator) CAM system for 6DOF robots ) and also I have good experience with ABB in RobotStudio for 6 months.
Can you help me with my PhD subject? What can I develop new for industrial robotics connected with programming?
May be someone has complex problem at work. I can try to solve it during my PhD.
Hi all!
I have KUKA KR6 R900 sixx with linear axis KL100.
I want to master E1 with EMD but it writes "$MAMES_ACT value invalid". With Master -> Dial is the same situation.
What does it mean?
Variable $MAMES_ACT[] has value: ""
I can do Master -> Reference and it works but it isn't good.
I have done archive of robot. I think that I need .mam file there but I don't have it.
Thank you for your attention!
I improved project in WorkVisual, now there all is good!
But I have one more problem. I don't have data cable X28-X29 in boxes of KL100. I said it to KUKA but it can take a few days or weeks.
Can I replace cable X28-X29 with standart cable X21-X31? Are they identical? I have one more KUKA and I don't use it now.
There are X28 and X29 connectors:
Hi all!
A have KUKA KR6 R900 sixx (KR C4 compact) and external linear axis KL100. I have connected all cables and now try to connect Beckhoff and external axis by WorkVisual 4.0.
But I have strange error after Generating Code - "There are no supply servo parameters for KPP with a resistor strength of 50".
What it means? How can I improve this error?
May be I should download some .xml for KL100?
Or may be I have mistake while connecting cables to drive box. I don't connect X29, is it right?
you bet... Kuka course Programming1 covers all basic things, including advance run.
when using approximated motion, robot must know not just current target position (say P1) but also the next motion (say P2). only then it is possible for controller to choose between not approximated and approximated path. decision must be made no later than when robot is at 'point of no return' which is simply begin of approximated segment. once robot reaches this point, there is no time for pondering and robot must commit to one known target. guess which one is that...
?? I know it)))
I have used CONTINUE and it works fine.