Posts by spiral

It shows you that is a global point.

Hi,

I turned on collision detection on a robot KRC4 8.6.8. After teaching the areas in collmonlib.dat the values were saved.

Next day for some reason in collmonlib.dat there were only default values. I imported the file from the backup, but the default values are still there.

Does anyone have an idea what this could be?

Change Case 2 to Case 32 and Case 3 to Case 64 because you have 6 bit integer

try to use BRAKE instead of BRAKE F

$TORQUE_AXIS_ACT

Did you put it in the LOOP section?

Try $IOSIM_OPT. Set to true then you can simulate inputs.

Check the pins on the connector.Maybe some loose contact.

Right click on the Profinet interface in the project structure and then select "connect".Right click again and select "Function"-> "Device list and profinet names" from the menu.Find the MAC address of the Leoni modul and assign the ip from the list.

You need also assign the ip address to the MAC address of the leoni modul.you did that?

Did you assign online the ip address to the leoni modul?

dont need use global.variables are automaticaly global once declared in $config.dat

krc\r1\system\$config.dat

Try

currentXYZ = $POS_INT

You can put one laser sensor on the gripper that detects the part at a distance and use interrupt to reduce the speed for the last 100mm maybe.

You need to configure AutomaticExtern in the robot menu.And what kind of interface do you use to connect with the plc?

Why not using interrupt and save the position of the pallets with $pos_int?

For this is better to use interrupt.You can trigger the interrupt with sensor on the gripper that detects the metal sheet.

Probably a loose contact.Check the wiring.

DEF_VEL_CP=2.0

Change this variable in the config.dat to 3.0

or $VEL.CP=3.0