hellodo you mean Panel Mounted?
It's a control cabinet that can replace the common one.
hellodo you mean Panel Mounted?
It's a control cabinet that can replace the common one.
Thanks,Katrin Schmid. But the controller what I mean is a cabinet. It can replace the IRC control cabinet.
I heard about an open ABB controller that is different from the IRC. The user can get access to the low level of the controller. But I cannot remember the name of the controller. Does any guy know the name of it? I will be very grateful for that.
Good tips! Thanks.
Thanks kr16_2. The command PTP_REL is capable to achieve the effect that I need.
How is your robot-side program structured? What you're describing doesn't make sense -- if an absolute position is sent to the robot, it's going to go to that position, and it's not going to go anywhere else until it receives new coordinates.
That said, if the PC sends a position and then loses communications, the robot is still going to complete the last motion command it received, unless you add additional KRL programming to handle that scenario. Which is not easy, but entirely feasible.
On the robot-side, the program is as following to drive the robot to the position "MYAXIS". An application in the LAPTOP updates the value of "MYAXIS" periodically. The problem is that: when the application in the LAPTOP stops updating "MYAXIS", the robot moves to several different positions and then stops. It is desired that when the application in the LAPTOP stops updating "MYAXIS", the robot moves to just one position to complete the movement and then stops. Thanks.
Code on robot-side:
LOOP
LOCAL.A1 = MYAXIS.A1
LOCAL.A2 = MYAXIS.A2
LOCAL.A3 = MYAXIS.A3
LOCAL.A4 = MYAXIS.A4
LOCAL.A5 = MYAXIS.A5
LOCAL.A6 = MYAXIS.A6
PTP LOCAL C_PTP
ENDLOOP
Are you sending the robot absolute positions, or relative positions? If relative, you need to keep in mind the Advance Run Pointer. There's also potential issued where the robot would keep applying "stale" data if communications was halted, unless you handle your garbage collection carefully on the robot end.
I send absolute positions. It seems the robot will keep the last position when the communication was halted. When it runs again, the robot will first run to this "stale" position but the latest position. I don't know if there is any possibility to solve this on the controller end since the controller is not open to users.
Hi, guys. I am debugging a program to control KUKA robot based on JOpenShowVar. A position variable defined in $config.dat is set periodically by a client in the laptop. The robot controller retrieves the variable to get the target position. A problem is that when the client in the laptop stops setting the position variable, the robot can still run and change the target position for several seconds. The client and the controller communicate via TCP/IP. I wonder how the controller retrieves the position variable and if there is a congestion in the controller of KUKA. If there is congestion, how to avoid it? Can anybody give me some tips? Thanks.
Could anybody upload a KLIConfig.xml file of KUKA KR 6 R700 sixx in the directory roboter\Config\User\Common? Then I can compare it with the file in my robot system and redo the changes I have made. Thanks.
I am using KUKA KR 6 R700 sixx. Several days ago, I added a port from the SmartPad (Start-up -> Network configuration -> NAT -> Add port -> Port number 7000 and Permitted protocols: tcp/udp). Then I did a cold reboot of the controller, but HMI could not connect to the KRC. There are some pictures I have taken to show the problem.
The picture 1 is taken from the smartpad.
The other pictures are taken from the monitor that I connected to KRC.
The IP of Windows system is shown by picture 2.
The KLIConfig.xml in KRC is shown by picture 3.
The configuration of Host-IP-address mappings is shown by picture 4.
Could somebody kindly help me with the problem? Should I recover the system? How to recover the system? If I should recover the system, should the robot be calibrated again? Thank you very much.
Swift Tao: Did you solve your problem?
The reason is that the safety circuit is not wired. I will buy the safety switch and emergency stop to wire X11 and see the results.
Hi,
"Cartesian velocity is still limited in T2".
This is not an error message. It is saying the velocity is limited in T2 mode for user safety. You just need to press acknowledge button and then the robot will execute the start command without any problem. And if you want to bypass the safety circuit in order to move the robot in T1 or T2 mode, you have to select Start-up mode operation by following MENU commands Start-Up>Service>Start-Up mode.
Thanks
Thank you. If the start-up mode is selected, I can not change to T2. Only if the start-up mode is not selected, I can change to T2 mode. But in T2 mode, the button for start-up mode is grey and can not be selected. I don't know why.
Are you working with an Integrator? If so, they should be able to help. If not, you'll have to use the KUKA doc to wire X11. Start with a simple circuit (say an operator door switch) to test your understanding. Then add more signals like light curtains, laser scanners, etc.
Thank you for reply me. When I change to T2 mode, there is an error "Cartesian velocity is still limited in T2". Then, when I select a program and try to push the run button, there is a message "Active commands inhibited". The Integrator is not here now. I find the X11 plug but we don't have any circuit. I am trying to seek help from the Integrator . If you have some solutions for me, please help me .
I am a newbie on Kuka robot. Could you tell me how to configure the safety?
When the start up mode is on in T1 mode, I can not change from T1 to T2 mode. When the start up mode is off in T1 mode, I can change to T2 mode. But the robot can not move, there is a message " "Active commands inhibited" when I try to enable the drive.
I can run program in T1 mode. The $MOVE_ENABLE is :
SIGNAL $MOVE_ENABLE $IN[1025] ;FAHRFREIGABE GESAMT
Hello, I can't run KUKA KR C4 in T2 and AUT mode. When I turned the Smartpad to T2 or AUT mode, the drive could not be enabled. When I pushed the Start button, there was a message said that "Active commands inhibited". Could anyone help me with this problem?
These are some settings in machine.dat :
SIGNAL $DRIVES_ON $IN[140] ;ANTRIEBE EIN
SIGNAL $DRIVES_OFF $IN[1025] ;ANTRIEBE ENABLE
SIGNAL $SAFEGATE_OP $IN[1025] ;SAFETY GATE ON PATH STOP
SIGNAL $MOVE_ENA_ACK FALSE
SIGNAL $IMM_STOP $IN[1025] ;NOT-AUS VON DER SPS
SIGNAL $AUX_POWER $IN[1026] ;EXTERNE SPANNUNGSVERSORGUNG AKTIV
SIGNAL $T2_ENABLE $IN[1025] ;SAFETY-SPEED
REAL $FAN_FOLLOW_UP_TIME=5.00000 ;NACHLAUFZEIT FUER DIE FAN-ANSTEUERUNG
SIGNAL $ROB_STOPPED $OUT[1023] ;ROBOTER STEHT
SIGNAL $ROB_CAL $OUT[1001] ;ROBOTER SYNCHRON
SIGNAL $PRO_ACT $OUT[1021] ;PROZESS AKTIV
SIGNAL $PRO_MOVE $OUT[1022] ;PROGRAMMBEWEGUNG AKTIV
Thank you so much! I get the ms value by your method now .
Would anybody tell me that why I can get the minute and second by using $DATE.MIN and $DATE.SEC in sps.sub file, but the $DATE.CSEC always returns zero? Is there anyway to get the millisecond?
Thank you guys, , I activated the safety configuration and the robot works normally now.