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Posts by MaxG

    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.

    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.

    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"

    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, and it feels like this company got dooped by the supplier. 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 ?

    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 ?

    Thanks, for the answers. I basically want to see the kuka screen on my laptop, and make it easier for me to move files around. My kuka is old and has limited memory, so sometimes I need to remove programs, to make space, and then I also need to edit my main program, so that it compiles correctly etc. I could add a keyboard and mouse, but space is limited on the production floor, and I don't want the operators to access it anyway.


    When I navigated thru the files on the C drive, under utilities I did see a VNC.exe file of sorts, but I dont know how to execute the file.


    How do I minimize the HMI on the KR C2 ?

    Hi All


    What would be a good rate per hour to pay a robot programmer in the US markets.


    Rate per hour for employee with under 0- 3 years work experience ?


    Rate per hour for employee with 0-10 years work experience ?


    I am just trying to understand the cost for Robot Programmers in US markets.

    For one of my application I use a custom made "teaching" tip to gather all my weld position co-ordinates, this is because I have many points to find and to eliminate the movement of the wire caused my the robot arm positions.