I've got a Thermo CRS a465 robot and the c500c controller. They didn't come with motor and feedback cables, so i had to make my own. They're just straight-through cables.
I'm able to get arm power to turn on only very briefly before i get an error on the terminal saying "encoder feedback cable error". I have checked encoder feedback, all 6 encoders change values whenever i push on a joint on the arm.
I was wondering if there was anybody in here who has used CRS robots before, and might know what the controller is looking for to check if the feedback cable was plugged in or not.
Posts by spacehitchhiker42
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I've bought a PUMA 560 robot on Ebay, that was retrofitted with an RWT controller. I'm just looking for some information on RWT before it gets here . RWT's schtick appears to have been some sort of universal controller architecture for retrofitting robots, but are now defunct (probably because their robot language was based on VB). I was just wondering if anybody here has dealt with RWT controllers. I'm especially interested in how they did servo control for DC motors, since it appears that the controller is missing Servo drives.
Thanks!
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I bought a pair of PUMA 260 robots on Ebay. I'm having some trouble figuring out what particular variant they are. They have a bronze-finish color scheme, with no company markings, only the text "PUMA 260". Instead of the typical large rectangular umbilical connector, they have a pair of DSUB connectors. In pretty much all the images I could find online, the wrist mechanism is spherical. On mine, it's more cylindrical. Is it possible that these are a very early version?
Does anybody have any info on the motors, especially voltage and current ratings? I found some possibly useful information Here, for the RP Automation version. do these same specs also apply to the earlier versions? Thanks!
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CrossCom... is pretty old. I don't think I've ever seen it used on KRC4s, only KRC2s. You might have better luck with JOpenShowVar, but I've only heard of it, never seen it in use.
At least that's a way to get info in and out of the robot. Aparrently it's actually implemented using crosscomm.
That link... looks like a software implementation of EtherCat on a PC? Well, it might work, but you'd have to have a GSD file for it that WorkVisual would accept. And the EtherCat driver in the KRC4 is a bit picky. I'd say your best bet would be to set up the software stack so as to emulate one of the "whitelisted" Beckhoff ECat I/O devices.Is there a required software addon for the Bechkoff controller?
I've been reading up on ethercat. Each device is assigned an address in a process image. Is there any basic functionality in KRL for reading or writing data in a process image without addons?If not, i'm just going to use Jopenshowvar. If I can do ethercat, I'd like to, because that's how you'd do it in a facory, and that's the kind of stuff i want to get into once i graduate.
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Isn't x65 ethernet?
through my research, i came across something called crosscomm. What is that? can it send data over ethernet?
Is there any way to do serial IO on the robot?Since we're just trying to impress some kids, we can't really justify buying addon software or an EK1100.
Aparrently X12 is an optional addon, so I'll see if ours has that.Could i use the ethercat to communicate with this http://sourceforge.net/p/ecslave/code/ci/master/tree/ without software addons?
Seriously, though, who the hell makes a base model without even basic IO? that's useless in a factory setting.
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I'll check with my instructor and see if we have a manual. By any chance is it possible to send messages over TCP from the robot language?
I know for sure that the PLCs have plain ethernet.
We are pretty much limited to the stuff we already have, and stuff we can implement on arduino ( anything else would be outside our purchasing power)
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I am a student at a technical college, and we are preparing a demo of our robot for some prospective future mad scientists. It is a kuka KR 6 series with a Kr C4 compact controller. As far as software addons go, we have gripper tech, and that's it.
How do I use the built-in IO's on the robot? where actually are they on the controller?
Can the robot connect to a PLC (We have allen bradleys) or send messages over a network without any addons to the controller? we have some sort of VNC set up to display the teach pendant on a monitor, and there is a port marked "ethercat" on the front of the controller.
I am sorry if this may seem extremely basic, but the instructor who knows the most about the robot left, and finding information on the robot over the internet is almost impossible.