Feels like nobody knows anything about smartPAD/smartPAD 2
if you overwrite XP1_E1_old with the last position of the calculated E1, your point will deviate a lot.
Always keep a Start value that never changes and do your calculation.
I don't know your application, so is it a linear slide, and endless running external axis or a spindle kind of thing? It is like Google maps, to calculate the direction to a target you need to know the origin, your start-point
If they don't offer it anymore, you would have to write your own math....
Complicated, as you need to consider, grip position top or bottom, robot follows part, material thickness, radius, bend location, speed, angle and a lot of other details.
Easy if you just bend the same part from start to end without following, then you just touch-up 2 points!
I should take the actual coordinate of a certain number of points (i.e. XP1.E1, XP2.E1, ...) from dat file and sum to it a value maybe inside a FOR loop before performing SLIN.
XP1.E1_new = XP1.E1_old + i*360
XP2.E1_new = XP2.E1_old + i*360
Which is the correct syntax?
Many thanks in advance!
assuming XP1.E1_old is the original retained value, it would be like
XP1.E1 = XP1.E1_old + ( i * 360.0)
Calculation need to be done inside the local src file, before you have the motion to P1.
Unless you work with Global positions and variables.
Change the variable for the software limit switch in the machine data menue.
Or change the variable $Softp_end and $Softn_end for Axis 1.
If you have Safe Range Monitoring or Safe Operation installed on your robot you can limit the A1 Range in addition to the previous step.
Turn off your controller, open the door. If the door mechanism fell apart, good luck with that task.
Use a monitor to troubleshoot the internal PC. Might be a software issue, might be bad RAM. Requires PC troubleshooting skills, maybe a mouse, a keyboard, but for sure a monitor.
You mean drives...
Contact KUKA with your Cabinet Serial number, but more likely you current wire size and connector won't fit the KR500.
And even if you update your controller, you might not be able to use the KR270 again, because currently you only have one Motor connector X20, while a KR360 up needs 2 Connectors X20.1 and X20.4
One way OR the other
For example a drive configuration for KR270R2700 (using a KPP3-20 and a KSP-40)
On the other side a KR360R2830, need a KPP, a KSP-40 and a KSP-64. The smaller size KPP3-20 is not able to supply the KR360.
Long story short your existing cabinet needs at least a KSP-40 and a KSP-64 (or 2x 64) and any KPP.
Same applies to a KR500
Does your program include
You need a Digital Input/Output card connected to your Robot field-bus. You connect the Output straight to the Input. Map that to your Directory Loader Interface and control it using the Submit-Interpreter.
In the very same way, you can also run Automatic-Extern over the sps.sub!
Thanks, I will look up TIME_BLOCK. I just find it weird that the only way to specify robot speed during PTP is a %.
To me, % is an "incomplete" representation of a robot speed. It is a parameters that can be easily tweak when testing on the robot, but not really useful for offline programming.
Most robot manufacturer allow to specify motion duration/speed with deg/s or a duration (s,ms), I thought I missed something when glancing through the kuka docs.
It is not duration, it is distance over time eg. 15 inch/min or 1.2 meter/second
If you are unable to change the IP on the weld source, use an NAT to translate any KLI IP to the necessary Weld Source IP.
I have some question, comments about smartPAD-1 vs. smartPAD-2.
smartPAD-1, shortcut CTRL+ALT+F10 (User Expert) opens the Windows Level (Windows Embedded Standard 7). What is the shortcut for smartPAD-2?
smartPad-1, powered up, but no connection to X42, the Windows-Logo key opens the Windows Level (Windows CE V6.00). What is the shortcut, procedure for smartPAD-2? Different OS?
No matter what smartPAD, what is the proper procedure to re-image the smartPAD (NAND-Flash)?
I use the Windows CE to run the keyboard test. But haven't figure out all functions, like all hardware buttons eg. deadman, keyswitch, estop etc.
Any help would be greatly appreciated
And yes I try to fix some smartPAD connection errors...
KSS V8.3.xx to V8.6.xx
KR C4 Robot controller
So normally, the Primary Master and Slave are set to Auto in BIOS.
And on KR C1 the HDD was Primary Master, and the CD-Rom primary Slave. Take pictures of your current BIOS Settings, remove the CD-ROM and the Floppy, check the Jumper on the HDD and start the PC. Check BIOS and by selecting the primary Master you should get a sub-menue with more details. If you don't see your HDD check cable, check HDD compatibility to Win95, replace HDD if necessary.
At least that is the way I would do it. Once you got your system running, you can add CD-Rom and Floppy as needed, but more likely they are fried already.
<< To confuse me further, on start up there is no master drive found but windows boots regardless without any other drive being shown to be found.>>
means Windows is starting of your cloned Slave HDD
$OUT = ($ACCU_STATE==#CHARGE_OK) ; Output 4000 is on if Charge is ok
$OUT = ($ACCU_STATE==#CHARGE_OK) OR ($ACCU_STATE==#CHARGE_UNKNOWN) ; Output 4000 is on if Charge is ok or unknown
$OUT = NOT (....) ; Not will invert the status
If a different WorkVisual Version has been used, it is possible that you get issues like that.
Extract your project right click on the wvs file and select information.
This will come up with project name, version, description, creation tool, modification tool and option packages.
I run in this issue where someone modified a project that has been created with V4 has been modified with V6 and till then V4 was pretty much useless.
Looks like a KR3. Can you take a picture of the robot and the type plate. This thing is 17 years old. never put my hands on one, but the documentation should still be available.
Make sure your KUKA Article number matches every time you change a part (doesn't count for complete PC's or Cabinets...)
Unfortunately (n00b alert) I didn't write down the original computer name
Open an Archive you did before you changed anything. Go to the folder <C\KRC\Roboter\Config\User\Common> and open Knet.xml
You find the Computername here e.g. <Host Name="WINDOWS-B81U2LE"
I did, but I had the same issue even before changing the name. Same with the SmartPad issue.
Please explain in detail how you changed the name. Did you perform the Reset SID of KUKA or did you just changed the name?
During all your modifications, you may have messed some things up. A lot of actions like Computername. Shares, User and Rights have been changed and potentially made it worse. You have had a fully functional robot system before you started, right?