Posts by Maverick

    Hi guys, i wanted to ask you if someone has experience with axis limitation on KUKA Robots.


    The thing is, we need to limitate the Axis 1 limit with a mechanical stop. I know from the manual that's posible in some Kuka Robots. I was told that in the model we are using (KR 470-2PA) it is.

    But i can't find useful information about how to install it or how to limitate the range of the axis 1 (by software) once the mechanical stop is installed.


    Thanks!

    Does the PLACE program begin with an INI Fold? If so, that's your problem. INI contains code, particularly BAS(#INIT), that forces a break of the ARP.


    The easy fix is to eliminate the INI Fold. The downside there is that it hurts you if you ever want to hand-select PLACE and run it in Teach mode -- LIN motions will be prevented, for one thing.


    The better fix is to put the INI Fold inside an IF statement checking $MOVE_BCO.

    It starts with a BASISTECH INI, is that the same?

    Does the PLACE program begin with an INI Fold? If so, that's your problem. INI contains code, particularly BAS(#INIT), that forces a break of the ARP.


    The easy fix is to eliminate the INI Fold. The downside there is that it hurts you if you ever want to hand-select PLACE and run it in Teach mode -- LIN motions will be prevented, for one thing.


    The better fix is to put the INI Fold inside an IF statement checking $MOVE_BCO.

    Oh okay, but if i remove the INI fold, it will prevent to start the program with a LIN movement that's it?? or i will not be able to do any manual movement with the Robot? (Including PTP movement).


    Thanks for the answer, i am pretty much new with KRC4, and i don't even know what $MOVE_BCO does.

    Hi guys,


    I am currently working on a project with several KUKA Robots for a typical pick and place routine. The thing is that we are trying to optimize the path of the Robot during the handling of the material (stainless steel sheets).


    The program of the Robot is like this:


    - Cell program calls a "Main" program

    - Main program is scanning for signals from PLC, and calls all the pick/place programs.

    - Once a pick/place program is finished, the robot cames back to Main and continues the scanning for another program to be called.


    On one of the programs, let's say program "PICK", in the last point of the program the robot reaches a final position, and after this position another program is called for continue with the "PLACE" program. The idea is that if all the conditions for execute the program "PLACE" are "TRUE" the robot should smoothy go from the last point of "PICK" to the first point of "PLACE". But this is not happening... The Robot is stopping for about 1 second on the last point, then it continues with the next program. Is there any reason why this could be happening?.


    Any advise will be appreciated.


    Thanks!

    KUKA suggested to change the CCU board from a spare Controller that we have here. I swapped it and now the Robot moves.


    Honestly i couldn't tell you how the board was damaged. Robot was working before and then suddenly stopped.


    Anyway thanks for the help!

    note that they really need to be identical...


    for example it is possible to configure two controllers with different hardware to work with same robot. deploying same project to both of them would result in one of them no longer working. also deploying same project means network settings will be the same too.

    so if there is a minimum difference between the controllers, and i copy the proyect, can i screw the controller? like forever? i was told by KUKA to check the KSS version.

    i am not sure what you mean. controllers can have different hardware, software and configuration. transferring image or WoV project from one controller to another can work - if EVERYTHING is the same.

    I mean, the customer is proposing to test the same robot but with a different controller, since the actual controller is having issues, and i was told that all the controllers and robots are 100% identical, if that is the case then i think it should work based on your advise.


    So in a summary my question was, if all the controllers are identically the same (hardware, software), is enough the workvisual backup?

    Old project should still be on the robot. If not you will need workvisual and alll options from the robot as well as all device description files.


    And last word of warning... Before you do anything make sure to have backup.

    Hi again sorry to bother you,


    I am still having issues with this Robot, KUKA is giving some suggestions like try a different ethercat cable but still doesn't work.


    I want to try this:


    We have a spare brand new controller on site, can i just load the current proyect from workvisual to the new controller? Or i must use the USB KUKA recovery tool to do a full image of the "old" controller?.


    Thanks!

    Thanks for the update, so, what do you suggest? i am literally the unique Robot guy here on site, and the guys who programmed the robot there are not available anymore (work in different company).


    Should i restore the old proyect? i have a backup from Workvisual, but i don't know if that will be enough...

    switching power off/on does a restart but... the type of restart is not necessarily correct type.

    it need to be the cold restart.


    I just tried this, didn't worked. I already tried with another TP, same result.


    At the bottom area of the picture, there is this message about "emergency stop inoperative", and the middle icon is read. What does it mean? with the other robots i wasn't having that red icon. Those are the messages that i got after choose "start-up mode".


    I am very surprised that when i flip the key for T1/T2 mode, is not being showed on the screen, neither the emergency stop when i press it.


    Cheers!

    press and hold enabling switch

    i tried this several times, i know that for move the robot you need to hold this switch in to the middle position and then press the start key. Even i tried with the 3 different enabling switches that the pendandt has, and same result.

    Hello guys,


    Yesterday i was testing a Kuka Robot for commissioning, a KR 470-2PA, KRC4 Controller


    Everything was good at the beginning, in Start-up mode, i was able to move the robot, test I/O signals from the tooling, check programs, points, everything. After a couple of hours i tried again to check some programs, and motion was not possible, even in start-up mode, with the Robot disconnected from the PLC, i restarted several times the controller with the same result.


    One strange thing that i noticed was that the "key" for change between T1, T2, Auto, External, it wasn't showing anything on the screen when i was moving it. Also when i hit the Emergency stop of the Teach pendandt, none message was on the alarm history about emergency stops.



    I am a little bit lost with this, because i went for lunch, and when i returned the robot was not moving anymore :(.


    What should i check? Try a different pendandt?.


    Cheers!

    as you can see address you are trying to use is conflicting with reserved ranges (used internally). You cannot assign address to KLI that conflicts with those ranges.


    changing internal addresses on KUKA is not documented. you can contact KUKA but it would be a long shot. what is this network address supposed to be used for? it may be easier to just add router.

    Hello, i think they want to use this type of address because they may want to access to some data of the entire machine by having it on the network that they want, honestly i don't know more than that, we have been changing IP address of all the rest of the devices to 172.16.115.xxx, and the Robots are the only remaining.


    So your advice is contacting KUKA for this? I think this customer can put a bit of pressure on the question, since they are a really big company, so maybe the time of response will be shorter.

    Hello guys,


    I am having some issues changing an IP address of a Kuka Robot (KRC4 and KR 470-2 PA), running on ethernet communication.


    - The robot currently has this IP: 192.168.1.54

    - The customer requires an IP change, they want to use this, IP: 172.16.115.254, Gateway: 172.16.115.1, Subnet mask: 255.255.255.0


    When i try to change the IP with the Teach pendandt, i get the "IP Address conflict" message. I tried doing this with the Robot disconnected and connected from the network with no succeed.


    I attached some pictures of some IP addresses that are on the Robot.




    Thanks!