Posts by spiral
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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?
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Change Case 2 to Case 32 and Case 3 to Case 64 because you have 6 bit integer
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try to use BRAKE instead of BRAKE F
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$TORQUE_AXIS_ACT
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Did you put it in the LOOP section?
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Try $IOSIM_OPT. Set to true then you can simulate inputs.
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Check the pins on the connector.Maybe some loose contact.
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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.
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You need also assign the ip address to the MAC address of the leoni modul.you did that?
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Did you assign online the ip address to the leoni modul?
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dont need use global.variables are automaticaly global once declared in $config.dat
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krc\r1\system\$config.dat
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Try
currentXYZ = $POS_INT
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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.
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You need to configure AutomaticExtern in the robot menu.And what kind of interface do you use to connect with the plc?
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Why not using interrupt and save the position of the pallets with $pos_int?
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For this is better to use interrupt.You can trigger the interrupt with sensor on the gripper that detects the metal sheet.
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Probably a loose contact.Check the wiring.
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DEF_VEL_CP=2.0
Change this variable in the config.dat to 3.0
or $VEL.CP=3.0