Posts by TickTack

If you already have the controllers added, you can go to Test-Run>Run Config.

There you select what robots you want to run each program. If you have handshakes between each robot you need to configure them in the I/O interconnects screen under Cell.

maybe look at the axis values for the point it is trying to reach and see if it makes sense. Sometimes when I us Roboguide to snap to the part files, it rotates my J6 the wrong way and I have to add or subtract 360 to it and teach the point.

Perfect, thank you! this works quite nicely for what was needed.

Thanks for the input! Looking into this now, so is there a extra DCS option for Orientation check? or is that part of the Advance DCS package?

Greetings- I have a application where my EOAT needs to be at a certain orientation while it is equipped due to cable management. Is there a way through DCS to limit the orientation of the tool plus or minus 10 degrees?

Haha perfect thank you! Where were you three years ago though?

What Bit was that going into the Kuka? I've always had issues with this with older versions of SafeOp but it was always a fun balance game of changing the points/cubes to make it safe and fast.

I've ran into this on high speed applications where normally I send over a INT from a PLC to call every Pick/Place. I think calling between pick and place or whatever, the robot controller can't anticipate what will happen next because it hasn't happened yet or been called. Maybe restructure your program to automatically weld a part if it has been picked, because what else would you do with it. And then obviously drop the part off when the process is done. You can have the main loop call some sort of autocycle program via the PLC and do the logic conditioning for Pick/Weld/Drop inside of that as sub programs.

Maybe make sure that the perch position isn't tied to a Refence position to a Digital output, that is pretty common practice. go to Menu>Setup>Ref Position and see if anything is Enabled.

If you're using safety over Ethernet, you map an Robot output as a tool change request or tool ID and an robot input bit for each safe tool in the DCS configuration. Then in the Safety PLC you can toggle between each tool based on the tool ID or gripper state if there is one tool with multiple grippers. Only one can be on at a time. You should be able to see the Safe tool change state on the TP in the live view window.

Yes, you can create a custom xml for the password protect option in Fanuc and set the features/pages the techs will have access to. When using the webpage you can go in and see what your current screen number is and then enable/disable with each user login.

Same thing happened to me, 8 out of the 32 robots we ordered with safe-op had the BitfieldAxesActivated set to 0. Would jump in the main brake test program and without motion jump right back out. I had to edit in the text file as well.

Safe-Op to include the robot arm per robot, much more like DCS in Fanuc. I think newer versions of Safe-op includes more spheres, but it would be nice to have pre determined bubbles around the arm you can disable or enable.

Greetings all,

KRC4

KSS 8.3

Safe-op V3.2.3

Is it possible to have more than one safe tool "with part/without part" change on the fly with just the X13 interface? Is there any commands to change the safe tool that can be used in the program? I see the manual states you can only have 1 safe tool with the X13 interface, didn't know if there was a different method?

I'm not sure if it was the correct way to do this, but for a Kuka "in an open space and Safe-Op" I've allowed operators to jog independent axis and/ or Cartesian mode xyz from the HMI. In my main loop I would look for the specific button "Jog A3 Positive". Then jump to that subprogram where I would move A3 to the max axis limit until the HMI PB was released with an interrupt in the robot code. More interlocks could of been made in hindsight looking back, but it worked for what was needed.

Got a hold of a kuka rep and the site has changed to : my.kuka.com

I believe a new login is required.

Is the system partner portal down? Then the email address for the questions is an none deliverable email account...

I would like to rotate about a single robot world axis. or one better, rotate around J1 only by some degrees.

Is it possible to rotate a program around X,Y or Z in large amount, say greater than 30 degrees?

also how do you adjust the min/max input range for program adjust?

Quick question, whats the best way to depart from any current position in Tool +Z?