$APO.CVEL of 50 is 50 millimeters -- do you actually want the robot rounding your corners that much?
$APO.CVEL 50 is < 50% of programmed velocity begin approximation....APO.CDIS 50 is 50mm. I know you know this but just thought I'd fix the confusion. 
Yes, dm me with contact info and your specific robot.
Another question regarding changing mastering pin:
I have a leak coming out of my 6th axis mastering pin on a KR150L130 (2004). I'm wondering what precautions/measures should be taken to get mastering pin back into same position?
The leak is very minor but annoying. Mostly because flies seem to love the smell of the oil :(. Is it something I should live with or is this an easy fix? I just have fears that the mastering is going to be thrown way off...
If you haven't formatted it, it won't be detected. If it's ssd, some older KRC2s won't detect. Best way if the other drive is still functioning is to clone the original onto modern computer and restore that drive to new hd. Programs such as acronis do this very well. It will format your new drive exactly as the old one. When computer boots up connected to new hard drive enter into bios and detect new hd. You'll have to figure that out specific to your bios. It will detect one way or another but setting the right hd parameters will make it run much faster. Save and boot. Enjoy your new hd with a solid back up if anything else goes wrong.
Thanks for the info. Doing teach offsets for all tools with load data entered. It will make programming more straight forward than a programming patch.
Do you see anything wrong with the approach of just doing first mastering with the spindle on the robot?
Thanks Skyefire.
As noted, I did a first mastering without a load on the robot. And then did a teach offset of with the spindle attached (calling it tool 1). My question is whether I need to do the teach offset for every tool number 1-16? I would do this without any actual tools in the spindle but am not sure how the robot controller integrates mastering data ( first mastering vs teach offset).
1. should I ONLY do a first mastering with the spindle on the robot?
2. should I do a teach offset with tools (1-16) with the spindle?
Let's say I only do teach offset for tool 1 (spindle on the robot). I then call tool 2 in a program. Will it use the teach offset mastering or the first mastering data for positional reference? Again, I'm running a KR150L130 with a 41kg 6th axis load. Thanks.
Hey All.
Question regarding mastering with teach offset.
1. First mastering has been done with EMT and no tool on the robot.
2. I wish to do second mastering with load on the robot.
I have a spindle mounted and use tools 1-16 for different milling bits. Their load, while different, is not of much concern to me and will change per jobs being run. So, my question is I only want to teach offset for the spindle with a collet and no tool and use this mastering data for all tools (1-16). Do I need to carry out teach offset for tools 1-16 or only for tool 1? Is this similar to load data that needs to be entered for all tools?
This is on a KR150L130 KRC2 kss 4.1.3.
The one you listed is a gm krc2. I have the same one. While you can make it work just be prepared for figuring out intricacies most robot operators never have to deal with. Also they cannot be upgraded to winxp or any other version of kss besides 4.1.6 sp3. It won’t mean much to you if that’s all you ever know, but compared to other kss versions it’s a real pain. That being said it’s also an old gm bot, and they worked them hard.
No luck on the video card. I'm able to pull up the harddrive through a usb adapter on an office pc. Can I make any changes there to allow the vga to be active when booting the controller or is this just going to be a dead topic?
You'll need to play around with your RAM settings and with amount of RAM you actually have installed based upon motherboard capacity. Takes some time, but I'm able to run programs of around 300,000 lines on a krc2 win95 kss4.1.6.
Make images of your harddrive before you mess around though. Nothing like ending up with a dead robot.
There's a place in the post for file splitting based upon how many lines you want :
<!-- Points="0" to deactivate the file splitting -->
<!-- RetractDistance="0" to deactivate the retract/plunge move -->
<!-- RetractFeedrate and PlungeFeedrate are expressed in "mm/min" and will be converted to the robot speed unit if required -->
<Split Points="3250" RetractDistance="0" RetractFeedrate="5000" PlungeFeedrate="2000" ProgramIndexSeparator="_" UseSeparatorEvenIfFileIsUnique="False" />
Mine is set to 3250 lines per sub program...simply set it to 0 and everything will be in one .src file
Also, the autodesk forum is great for asking questions like this as it's more about the software than about robots...
Before I go getting any the robot won't work etc...I understand. I'm trying to boot the controller to start an update before everything else (like a replacement KCP2) is in place. Thanks.
I ordered a AGP vga card and will try a startup from that.
Panic Mode...
do you mean add another video card (in the agp slot of the motherboard) in addition to the kvga card or remove kvga and add a different regular one (again the agp slot)?
Basically I'm trying to boot a controller without a kcp2 (on a (v)krc2 with Soyo SY-7VBA 133 motherboard).
Thanks.
So, I'm in the same boat as BMike was above...
KRC2, 4.1.6, KR200_2
External base parameter is not base no. 17 but ex_ax_data[1]. This part I have down. However, I'm a bit confused when defining in the example ex_base(17,2) what I should be using. There is zero documentation on this in the 4.1.6 expert programming manual under bas.src.
When I try to run a program it immediately throws a work envelope exceeded. Monitoring ex_ax_data[1] shows the correct information but when monitoring $base it show {}. Seeing as the coordinates for the program are in reference to my external axis center of rotation the arm is clearly being told to go to rob_root and it doesn't like that. Any suggestions?
I can post a sample tomorrow when I am back at work. Make sense? Thanks.
I think it was my flange offset was not set...so thank you.
With these GM bots, they need to be running a specific application (studwelding, dispensing, handling, pressroom, etc.). I reloaded the application to default and reconfigured with the flange offset and all is well in the world again.
Next beer is on me.
I also keep about five working harddrives around at all times in case of problems like this. Makes working on the software a little les high stakes.
Thanks for the advice on flange offset...I had everything laser cut so have exact dimensions.
I was extremely careful with modifying the machine data and have gone back and compared my changes to the original. Are changes to be made to config.dat as well? Because nothing changed in mine from the configure external axis application. I'm still confused as to what's throwing all these system errors but will see where this gets me. I guess what's throwing me off is that I'm able to jog the ext axis and robot but not do anything else.
I know this has been covered extensively and I wouldn't be asking if I wasn't truly stuck. I've read through the past posts and have all the manuals that I've been going through for the past 3 days with no progress.
I'm running a gm KRC2 with kss 4.1.6 on a kr200 robot arm. I built a turntable with a 3rd axis gear from another kuka robot and a 32amp kuka servo motor. I used the configure external axis program to enter in all my data. System accepts the changes and I am able to job both the robot and the external axis.
However, that is all I am able to do. When I go to measure the kinematic root system I am unable to select a tool or the external kinematic system to measure. I get a windows error (in the pictures) para_actstatkey_incparam: error -2147417848 automation error. Additionally when I try to set a current tool for jogging I get the same error. All of my programs will not compile as config.dat and bas.src are errored out. When I try to open config.dat it give me an error no. 10: ststemdispl errorlist empty or not available.
I have attached my machine.dat and config.dat. I'm really stuck on this one. The external axis configuration software I have is not great as I have to enter in all day manually anyway. Before I configure the external axis everything is running smoothly with no errors and I'm able to execute programs. After, all I can do is jog the robot...I cannot even teach a new tool or base.
Thanks.
