Posts by harveymoon

I have a KRC4 compact on an agilus r900

Had some power issues in the shop and kuka lost all power for about 10 seconds.

When it came back up, the pendant wont connect at all:

"could not set ip address automatically"

so I got a screen and mouse and plugged directly into the controller.

Windows boots and on-screen control pendant appears with these errors:

KSS13012 SYS-x48 Error during ECat stack

KSS13012 SYS-x42 Error during ecat stack

RDC31 No connection to RDC possible

KSS14011 boot error in file kagaInit.cpp parsing KLIConfig.xml

KSS15002 communication error safe device resolver

Multiple cold start reboots and no change.

Is this corrupt software? hardware blown? How can I find out more info? What do you reccomend?

Cheers

Cool, thanks for your reply.

This appears to stick in the network settings.

I have

KLI on 192.168.1.99 and

RSI on 192.168.2.99

But I still cannot ping the machine on the network. The link lights on the ethernet ports never light up.

Ethernet is connected to X66 on the bot.

What can I do to troubleshoot this network setup?

Is there any way to confirm or PING from within the pendent to test connectivity over the LAN?

What does the "Windows Interface" toggle actually do?

After reading thru the forums for a bit I am still stumped.

I have two virtual interfaces KLI and RSI. I was previously able to communicate to kukavarproxy using a fixed address at 192.168.1.99 on the same subnet as my computer.

After a reboot I can't get any connection to the bot. No pings reply, nothing.

I tried changing KLI to a dynamic IP and did a reboot, nothing shows. Link lights on switch and X66 are off.

Now I am trying to set KLI back to a fixed IP but cannot.

It says every time "IP address conflict, changes will not be saved"

I can try every IP address, as well as looking at my router to see open IP addresses, but same error.

I can even unplug the ethernet cable and it still has a conflict.

The big questions I have are:

How was I able to communicate to kukavarproxy on ip 192.168.1.99 if that was reserved to RSI? Shouldn't it have only worked on the KLI virtual interface?

What does the "Windows Interface" toggle actually do?

How can I see what dynamic IP address the kuka thinks it's getting?

Why does it say I have an IP conflict on virtual interface 5 if it's clearly not the same IP as virtual 6 and nothing else on the network conflicts?

Is there any way to confirm or PING from within the pendent to test connectivity over the LAN?

Thanks thanks, sorry for dumb questions

figured it out

I had to change this line in the rsi.xml file

<Parameter Name="Precision" ParamID="8" ParamValue="1" />

to a larger value, I set it to 4 and now I have more decimal places.

Hey i'm doing all this now in Touchdesigner.

I tried openshowvar a couple years ago and it was way too slow

now I am using RSI and passing the values back to touchdesigner in real-time (<12ms)

Because touchdesigner is a real-time renderer, I can make changes to my path dynamically and send it over. I have it controlled with a playstation controller and the angles pass back into the system to visualize it's motion.

We built a small python app that runs in the bg and responds to the messages from the KRC4

Pretty easy actually to control the axis's

What everyone is saying is true though, its a lot more dangerous, but it's way more useable this way.

I built some safeguards into the system, it limits the outgoing acceleration of all moves and it shuts off if the outgoing or incoming coordinates are outside of boundary.

The hard part that you are not even thinking about is the kinematics. I had to re-build a kinematic solver to know where the angles were supposed to be for each Cartesian position I was trying to go. That is the real power of the maya app, is it has options for different kinematic solutions and ways of changing axis positions easily.

<Rob Type="KUKA"><AIPos A1="-0.3" A2="-87.7" A3="89.8" A4="0.1" A5="87.9" A6="0.0"/><ASPos A1="0.0" A2="-90.0" A3="90.0" A4="0.0" A5="90.0" A6="0.0"/><Delay D="0"/><Tech C11="0.0" C12="0.0" C13="0.0" C14="0.0" C15="0.0" C16="0.0" C17="0.0" C18="0.0" C19="0.0" C110="0.0"/><DiL>0</DiL><Digout o1="0" o2="0" o3="0"/><Source1>-42.1</Source1><IPOC>8241725</IPOC></Rob>

I am trying to find where to change the decimal precision of the AIPos output. I am not getting more then a single decimal place, I have seen others on the forums get much higher accuracy and I can see higher resolution angle values within the pendents display.

Thanks

yes, before I posted I removed and re-connected all connectors from both the CR4 and the Agilus.

Today I also disconnected, looked for bent pins, and re-connected all connectors from both the CR4 and the Agilus.

Any other advice?

I am just getting started with Kuka programming and have had a lot of good success so far.
Programmed a path and was running just fine last night.
Today when I start up my Agilus it doesn't move a few inches before faulting out.

I don't have a heavy tool on the end, and even when jogging any single axis, I still get an error on (A5)

Could this potentially be a faulty motor? I do not have a re-mastering tool, so I am uncomfortable moving motors around if I would need to re-master.
Frustrating because I don't know what could have changed since yesterday.
No collisions or strange sounds coming from the bot. Any advice is appreciated!

So far I have disconnected the connectors from the KRC4 and the arm. I have re-checked the grounding wire. What should I try next?
____
Ackn. General servo error (A5)
Originator: Drive
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Ackn. Error: Overcurrent (Servo) (A5) (0x00000001)
Originator: Drive
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