Sorry:
KRC4
KSS 8.3
Sorry:
KRC4
KSS 8.3
Hi everyone,
can i somehow manage the following:
after booting i have a variable witch has no value, and because it is in sps it makes an error.
Are there any solution for monitoring a variables invalid state?
For example
If ( variable == #invalid ) then...
I dont try it on a controller yet, but wv drop error for this.
Thanks a lot!
The original cell was designed by us a few years ago. The cutting press was communicate with direct ios, but the costumer replaced the press, and the manufacturer of the press screwd up.. And now i have to solve..
You should use a PB-Master on the KRC4 and a PB-PB coupler between this master and one of the other machines.
and if its not an option? another solution can work?
If the area where operators may be present is clear (verified by safety light curtain), why would you not allow E3 to move?
that was the costumers wish. if the technicans are teaching a user program, they cant see the outer part of the rotating table, and if somebody in the external axis can hit them.
I cheat a bit, and make a few lines in a submit file. I rewrite the axis limits of the actual outer axis ( just a bit less than what is enabled in the safety ), so if they tries to move it it drops a software limit error, but if something fell on the pallette it moves out from the limit switch area and drops a safety error.
thanks for your help!
Hi everyone,
robot: KR 60-3-f
controller: KR C4
KSS: 8.3.x
unfortunately we run into a prob in a foundry area.
we have a cell with a robot, a cutting press and a molding machine.
the two machines has PB master for the communication with the robot. we tried to put two PB slave modul to the robot controller, but it drops an error ( kss10015 - SYS-X44 bus error, additional info ( found gateway multiple ) ). With a research i found a reason, only one master and one slave enabled. It ok then
And here is my question:
What if i extend the X44 interface ( with a etherCAT connection ) with another EK1100 coupler, and take the two PB slave moduls to a different gateway. Can it work? Or it will be on a same gateway, and the error will still occur?
Thank a lot for your help!
Exactly. There are light curtains, and a mechanical curtain too. To check the rotating tables position there are 2 touchless sensors.
To disable the rotating table ( safe single break, axis group 1 ) i wired the light and the mechanical curtains in line, for the 2 palettizer axis ( safesingle break, axis group 2 and 3) i wired the two touchless sensors.
So basically, when the curtains are down, and the tables "a" side is inside, i enable the axis e1 and e2. Its ok until that point.
But when a robot technican modify points in the user program, and tries to rotate e3 (for example do dont know witch side is inside ) it causes a safety stop for e3. And cause the whole cell stop, and he would never able to enable the drives, cause to reset the safety stop for e3 he has to rotate the table 180 degrees, but its in safety stop too so...
i can only solve that situation, when i step into start up mode, it release everything. Than i cancel start up mode and all safety stops disappears. So its working, but our costumers dont want the oparators and technicans teach start uo mode, because of safety reasons, and they dont trust on them..
thanks for your fast answer it is working now!
hi all,
i am working on a welding cell ( 2 KR16, KR C4, +3 axis positioner ). The safety of the cell was made with SafeSingleBrake option. I made a config that all three external axisis ar on a different circuit of the x13 connector.
Tha problem is, i have to disable the movement of the outer external axis of the cell ( where operators are working ), its good until now, but costumers want me to handle the user problems to. so when somebody teaches the cell and unfortunately try to rotate the outer palletizer it goes to safety stop, because of the violation of the safety area( of course cause axis must not move ), but on that point all axisis are blocked and i cant release the safety stop because the safety condition doesnt ok, while the table wont rotate and to the another "touchless" sensor to release the safety stop.
Yet i can handle in goes into StartUp mode, but they really dont want to let operators to make the same way.
Does anyone have an idea?
Does any "forced" safety reset what i can use here? ( Reset safe IO not good here )
im thinking about disable the "E2" or "E3" button on smart hmi, depends on witch side of the rotating table ara outside the cell.
is it posibble to handle it somehow?
Thanks for your help!
hi all,
i am working on a welding cell ( 2 KR16, KR C4, +3 axis positioner ). My problem is, when i'm writing a user program, the external axises ( what i made asyncron before with $async_axis in a same src ) goes to syncron mode while i am making a block selection to another point, or command, or empty line ( it doesnt matter where am i click )... there aren't anything in the project what can rewrite that value.
i get a pdf about asyncron axis, and it says asynchon axis only set to synchron automatiously when i made a program reset.
anyone have an idea?
thanks a lot!
and without safe op? low budget..
Hi everyone
i'd like to ask a question about external enabling.
We are working on our first welding cell with 2 KR 16 ( KR C4, KSS 8.3.31 ), and a 3 axis positioner.
The costumers want that the outer part of the positioner must be disabled. ( So if robots are work on the side "A" i should block side "B" where the operators are ). Is it possible to make it with wireing, or i have to write some code for it?
Thans a lot!
Hi everyone,
i can not enable service mode in kr c4 controller. I tried with all of the operator levels but nothing.
Does anyone have an idea, how can i enable?
Thanks a lot!
hi everyone,
is is possible to get back the actual value of each axis in degrees? thanks a lot!
vpomichal
hi everyone,
i stucked with a problem in kuka safety. i have already configured two protected spaces ( workspace[14], workspace[15] ) in a cell where im working now. i have to turn on/off these spaces by input. In safety setting i found a list ( always on / always off / by input ), where i can configure the "enable" of these spaces.
The question is, how can I continue. Where can i configure these input signals.
I use X13 for communication.
thanks for your help!
vpomichal
hi everyone,
how can i set the speed / velocity value on points in a prog one by one? i do not use inline form, in my prog.
Thanks everybody!
thank you, that was the question!
hi
in spanish "Configuración> Otros> Idioma" maybe ( google translate )
hi everyone,
i have to perform a break test in our robot ( KR C4, KR 180 ), but i can't make the robot do the test, because as i know i need to perform it in t2 mode 100% ( it seems logic for me ), but i can't run program in t2 mode ( active command inhibited ) just in t1. How can i enable to run staff in t2?
Thanks a lot!
vpom