Hi Rustli,
Did you manage to sort this issue?
I have the same issue here. See attached image.
And the error while trying to master from pendant.
Thanks for every help
Hi Rustli,
Did you manage to sort this issue?
I have the same issue here. See attached image.
And the error while trying to master from pendant.
Thanks for every help
Hello all,
I'm having some issues with KUKA LBR iiwa 14-820 robot. It used to work perfect for months and gives some weird errors now.
For example now I cannot run the existing program (which used work two days ago) or download new program to the controller.
Also, I cannot master the robot but able to jog in both axis and base modes.
I tried to install the software OS but it gives an error as well.
See images from below link.
https://photos.app.goo.gl/jAFPGDEQCvXy5xft7
I'm new to LBRs and let me know if there is a better of sharing the error log.
Any line of advice is highly appreciated.
Many thanks in advance.
KRL is a bit primitive here -- it does not allow you to place a Real or Integer variable inside a Structure variable.So the workaround requires doing something like this:
CodeXP1 = $AXIS_ACT ; set P1 to current Axis position of the robot XP1.A5 = 90 ; change just the A5 value of P1 PTP P1 ; A5 will rotate to 90deg, rest of robot will remain stationary
Basically, you need to explicitly set the values of the members of the (E6)AXIS variable. You cannot simply put a variable inside a variable. This holds true for all the STRUC types in KRL.
One nice trick in KRL is that you do not have to define all the members of a POS or AXIS variable (except when using the Geometric Operator or INV_POS, which require a full XYZABC definition). So for the example above, you could also do this:
CodeDECL E6AXIS MyA5is90 ; create an "empty," undefined E6AXIS variable MyA5is90.A5 = 90.0 ; define A5 value, all other axes left undefined PTP MyA5is90 ; move A5 to 90deg, all other axes remain stationary
This will have the same effect -- basically, if you give a PTP or LIN command a Position variable that is only partly filled in, the motion planner will simply keep all the other members of the position structure the same as they were when the motion command started.
Many thanks SkyeFire. That works perfectly. Cheers.
Many thanks SkyeFire and davidina for the detailed explanation. I have now figured it out.
However, I'm still scratching my head to move the robot to a position defined by a variable. I'm going through the system integrators manual but couldn't find it yet.
For example:
P1 = {AXIS: A1 0, A2 -90, A3 90, A4 0, A5 POINT, A6 0}
PTP P1
Say REAL POINT = 90.0.
Any line of advice please.
Cheers.
Hello,
I have some experience with FANUC robots but I'm quite new to KUKA. I was wondering whether there is a way to enter X,Y,Z,A,B,C or 6 joints angle directly using teach pendant for set of points rather than jogging the robot and record. For example, we can enter X,Y,Z,W,P,R directly in to a FANUC position register using teach pendant or write the values to the joint angles.
Any line of advice is highly appreciated.
Cheers.
Hi All,
Wondering whether anyone has an idea about the fanuc LR mate 200iD robot's encoder resolution or the angular repeatability.
I just need this value as a literature survey for a report.
Thanks.
Hi All,
Anyone got a clue where to buy a new or used 6 axis F/T sensor compatible with Fanuc LR Mate 200iD for a bargain price ?
Further, it should be able to couple with a computer as my F/T control algorithm is created using MATLAB.
We are in the academic sector based in Scotland,UK. Please let me know if you know a place or someone that I could contact.
Thank you.
Many thanks skalactik. I got a quotation today from FANUC. It costs £511, almost same.
Are you sure about the price?
R648 is one of the cheapest options in europe ...
Hi dha,
Roughly how much this option costs in Europe ? We are based in UK, so I believe more or less the prices are same.
Many thanks skalactik.
Could you please tell me more about sending coordinates over DI or any Fanuc document to refer ? In future, it is planned to do some research on haptics and vision, therefore a method capable sending dynamic data to the robot controller might be really useful.
Also, do you have any idea about the price of R648 ?
Hello everyone,
I have successfully coupled Matlab and Roboguide with the help of KAREL and R648 (User Socket Message) software options (RB as client and Matlab as TCP/IP server). In essence, I'm sending XYZ coordinates to the real robot that obtained from Matlab program to the robot.
However, when I tried to download and operate my real robot (LR-Mate 200iD) equipped with R30iB controller, I have realized that the real robot controller doesn't have the R648 option. Instead, it got only R636 (Socket Messaging) software option. Therefore it won't recognise certain built-in functions in my program such as MSG_CONNECT.
Therefore could anyone kindly tell me how to communicate between Matlab and R30iB controller without said option (may be only using R R636) or how to get R648 installed in my real robot controller ?
Many thanks in advance. Cheers..!!
PS : Since we are in academic domain costly purchases won't be a great solution.
Hi Jonson, thanks a lot buddy.
Since Fanuc PC developer's kit is too expensive for academics I will focus on the way you have advised. This would help my future research work a lot.
Btw do you think it is possible to couple Matlab and Fanuc Roboguide simulation software ? In essence to create kind of a virtual environment.
Thanks.
Hello everyone,
I'm quite new to the field of industrial robots. As a part of my research I'm working with Roboguide and Matlab. I have developed a Matlab image processing program which will output the real world XY co-ordinates of an object. Also I have read that it is possible to couple Matlab with actual controller via VB and Fanuc PCDK.
However, I'm wondering whether there is any chance to use these XY coordinates as inputs to the Roboguide, i.e. to get the Matlab output into Roboguide as an ActiveX object, a virtual serial port or anything else.
My initial idea was to use a virtual COM port as a bridge and read the values of the specific port by opening it using a KAREL program. However the idea doesn't seem to work. I believe I can only deal with ports provided in actual Fanuc controller using this method.
Any advise or suggestion would highly appreciated.
Cheers..!!
PS : I have bit of knowledge on VB, KAREL and TP programming. My actual controller is R-30iB Mate and robot is LR Mate 200iD.