Posts by Dp18

Email me at [email protected] it can also run Motosim 2022

Hi, I'm looking for a Kuka KPP 600 -20 2x40. DM me if you have one that you can sell.

Cheers

Hey guys,

I have a Yaskawa sentinel dongle for MotoSIm EG-VRC 2019. Please send offers if interested. Located in Australia, but happy to post anywhere.

I'd be keen to know more about using a VFD, but worry it would harm the controller. I have found the RPC's provide dirty power and robots wouldn't run at all, however diesel generators are fine.

Quote from SkyeFire

To transmit a system variable that is not also a Signal, you would need to execute code to transcribe the variable. To do this "realtime," regardless of what your foreground task is doing, you probably need to put this code into the SPS.

So, in CONFIG.DAT, you might create:

SIGNAL CURR_ACT_OUT $OUT[1] TO $OUT[32]

This creates a 32-bit, signed-integer output.

Then, in the SPS User Loop section:

CURR_ACT_OUT = $CURR_ACT.

This, of course, would need to be customized to your specific application. For one thing, a 32-bit output is probably overkill for a lot of variables.

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Quote from panic mode

as mentioned, you need code to transfer values.

one can declare variables in $config.dat but i would not consider that the best.

i prefer keeping all of my code and declarations in my own files. if something is to be executed in SPS, i put the code in my file and call it from SPS.

Thanks both for your help, worked a charm. I used SkyeFire's method for testing, however I like the idea of having a seperate file and call it from SPS.

Hi,

I'm looking to add more system variables outside of the standard Automatic External I/O. ie. $CURR_ACT,

Would it be best to do this through config.dat and map accordinly?

KR C4 controller and EL6695.

Thanks

Thanks for your help. I worked my way through it and it's now functioning correctly.

Quote from panic mode

"your bus configuration uses correct device description files and so far you are good.

your wiring is not shown but EtherCat cable from CCU.X44 need to go to EK1100. (this is primary interface for EL6695) and the other EtherCat cable (from PLC) need to go to EL6695 module (this is the secondary interface for EL6695). and beside communication signals I/O node needs power. i hope (assume) this part is correct."

Wiring is correct on both sides as Beckhoff and Kuka topology is scanning correctly.

"I don't understand the signal transfer between the two devices."

all right... no problem...

do you understand the difference between inputs and outputs?

and do you understand how physical I/O would be used between PLC and the robot? (if you had to do this without fieldbus...)

outputs can be wired to drive inputs....

outputs are set/written by program (or manually if testing)

inputs are read only from programs perspective. it need to be set by something external...

therefore:

PLC outputs would need to be wired to robot inputs.

robot outputs would need to be wired to PLC inputs.

and if you have a lot if I/O between the two nodes, there will be a lot of wires...

using fieldbus simply replaces all the individual wiring so that you can use simple cable (only few-wires) to exchange many bits of data. but the signal direction still has to be observed.

to send a signal from PLC to robot, you would manually or programmatically set an output on the PLC side.

the top of your screenshot shows WoV mapping of robot inputs. this is correct.

the bottom portion of your screenshot shows also inputs... on the PLC side. have not worked with Beckhoff PLC software so cannot tell if this is correct.

but i see no outputs mapped on either side, meaning neither robot nor PLC will be able to send any signals to each other.

Outputs are also mapped on both sides. I'll work through it today, as it seems I'm not far off. Thanks

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Thanks panic mode although I don't understand the signal transfer between the two devices.

A basic example of what I’m trying to achieve;

Bekchoff PLC (Secondary)

Output1 mapped to DWORD0

Kuka (Primary)

DWORD0 mapped to Input1

Any help would be greatly appreciated.

Hi I'm looking to map safe and non-safe IO from a Beckhoff PLC CX2030 (Secondary) to a Kuka KRC4 and EL6695-1001 (Primary)

Beckhoff (Secondary) / KRC4 (Primary)

Unlike other EL6695 models, this EL6695-1001 doesn't have Inputs & outputs where I can add variables, instead I have Std.Output/Input DWORD 0 . I have mapped 32 UDINT input/output groups on the Kuka side, but how can these be differentiated from i.e a single byte linked to DWORD 0, 1, 2 etc?

panic mode please note i have reviewed various threads including this Mapping I/O between : KRC - Ethercat Bridge EL6695-1001 - PLC (codesys) but without success.

Hi I’m looking for a controller to run our custom welding robot.

-6 axis
-arc welding functions
-pendant teaching control
-using steppers so dir ／ pul signals are required.
-teaching logic and playback
-200-230v

I have tested some cheap Chinese controllers that do the job, but are just not very refined. I'm thinking the Kuka KR C4 might be a good option or maybe Nidec. Can anyone shed some light into these controllers or another option that may suit.

Thanks