Can you please elaborate ? How did you fix it, what
was the error you found in the manual?
Can you please elaborate ? How did you fix it, what
was the error you found in the manual?
Is it possible to get or set information on the spot supervision menu via a PLC or HMI. For example the threshold for weld count (which can then be used to set the interval for calling the tip dress job) can be set on the robot teach pendant screen , but I would like to allow the customer to adjust this value using the HMI.
Thanks again, which manuals do you find this type of information ?
Thanks
Well, I direct you to expert programming manual
Been a while since I worked on KRC2, so not sure why the option is greyed out if you are logged in as an expert at least. You can just ignore it and set it up programmatically.
I read thru the expert programming manual, but I cannot see any reference on how to set it up programmatically as you suggested. Is the syntax similar to setting up a $BASE ?
I want to write an IF statement based on a robot position being true.
Creating a small workspace and using it's state in a condition is ok if you only want the location of the TCP
How do I do this ? What would the first line of the IF statement look like ?
Hi All
How do I setup work space on KR C2 ?
The option under CONFIGURE-->MONITORING WORKSPACE ENVELOPE is grayed out.
Basically what I want to do is call a subroutine only if the robot is in a certain position.
IF $IN[1] AND "certain position" then
Subroutine()
ENDIF
Can someone point me in the right direction ?
Thanks
This is exactly why I think it is important to create a "Style Guide".
Everyone has there own way of doing things, but I need to set some basic ground rules. I want to make it easier for the next person, because I know what a nightmare it was when I took over. I wouldn't want to wish the same on them.
Thanks all for the valuable input and insight given.
Thanks
But is it possible to monitor user defined values the Teach pendant ?
Hi ALL
I declared and initialized a BOOL in config.dat as follows:
BOOL BUSY_STATUS = TRUE
I want to use this in the SPS as follows:
IF $IN[1]==TRUE AND BUSY_STATUS THEN ;
$OUT[1]=TRUE
ENDIF
Is it possible to check the value/status of the BOOL ? or is the code wrong ?
Thanks
The Robot Info:
KRC V5.4.11
Kernel: KS V5.4.83 RTAcc
Windows Version: Xpe 2006
Yes I am looking for guidance.
Basically, I want to ensure that, the company has a programming procedure to follow. All programmers must do the same thing, for example using the same naming conventions for variable. Programmers come and go, so I would like to create something solid for the company, for the next guy.
So I am looking for a guide to use a base to start from.
Maybe I should look at adapting a C/C++ style guide.
Hi
Does anyone have a "Kuka Style", programming style guide to share, as a starting point for me to create my own from.
Thanks
Is it possible to measure the part while the robot is executing the job, ie on the fly. Or would it be better to measure the part first. In the case of option 2, I think I would need to measure 3 points around a tube to define "the circle"
Thanks again all
I have used touch sense before, but as you mention its more for welding. I am interested in exploring a optical sensor. Just wondering if the optical sensor could be mounted on the tool with the torch ?
I agree with it being a horror story, every single day I need to fix problems with the cell. It's what I inherited when I joined the company, So now I am working on making a difference.
Thanks for the reply
.
To understand your suggestion, If there are many cut positions that need adjustment, I need to add code before each cut subroutine ? i.e
;Cut 1
BASE_DATA[1] = {X -0.740, Y 1707.740, Z 477.510, A -180.0000, B 0.0000,C 0.0000}
Offset = {X 1, Y 0.4, Z 0, A 0, B 0,C 0} ;//If you still have to, change value by hand here
If DistBtwPos($Nullframe, Offset) <2 then ;// check if the offset is really within +/-2 of nominal
$base = Base_data[1]:Offset
$Act_BASE = 1
Cut1()
endif
;Cut 2
BASE_DATA[1] = {X -0.740, Y 1707.740, Z 477.510, A -180.0000, B 0.0000,C 0.0000}
Offset = {X 1, Y 0.4, Z 0, A 0, B 0,C 0} ;//If you still have to, change value by hand here
If DistBtwPos($Nullframe, Offset) <2 then ;// check if the offset is really within +/-2 of nominal
$base = Base_data[1]:Offset
Cut2()
endif
The Offset values are applied to the nominal values(nominal values are not changed), and the IF statement checks that it is not more than 2mm ?
Is this correct ?
The Robot Info:
KRC V5.4.11
Kernel: KS V5.4.83 RTAcc
Windows Version: Xpe 2006
Hi All
I inherited a robot cell which does about 10 plasma cuts on a part. Each cut position has it own subroutine, and before calling said subroutine the Base Value gets declared and activated.
The cut position must be within +/- 2mm of nominal.
; Cut 1
BASE_DATA[1] = {X -0.740, Y 1707.740, Z 477.510, A -180.0000, B 0.0000,C 0.0000}
$BASE = BASE_DATA[1]
$Act_BASE = 1
Cut1() ;call cut 1 sub
; Cut 2
BASE_DATA[1] = {X -0.740, Y 1707.740, Z 477.510, A -180.0000, B 0.0000,C 0.0000}
$BASE = BASE_DATA[1]
$Act_BASE = 1
Cut2() ;call cut 2 sub
The parts that are supplied to the robot are not always consistent so then operator needs to edit the base values at the start of the shift, after checking the first off sample.
The system is very basic and all run from the Robot controller and base values need to be changed directly on the teach pendant.
The system also has an alignment point, where the operator needs to manually align the tool to the point/spike.
My question, is there a better way of doing this without breaking the bank ?
Thanks all
EDIT: I found it on the numeric keys
I don't know if I am missing something, but where do I find the CTRL key to get to the desktop ?
I don't see it on the KR C2, teach pendant, unless its a softkey and I need to be logged in as admin
Do I need a network switch for this, or will a crossover network cable work or maybe even a wifi dongle?
I am not sure what the hardware/software in the controller is capable of ?