It is a KRC2 controller with standard X11 plug.VKRC2 has XS2 safety plug.
Posts by spiral
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The robot reads the data every 12ms.How fast the external system actualise the data?
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How fast you get your position data from the external system?
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cannot open the robodk file.
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Talk to the guy who generated the programm in RoboDK. You have this at the beginning of your programm:
; Program generated by RoboDK v5.6.7 for KUKA KR 90 R2700 pro on 07/02/2024 12:06:58
; Using nominal kinematics.
; ---- Setting reference (Base) ----
; Using external axes
; $BASE=EK(EX_AX_DATA[1].ROOT,EX_AX_DATA[1].EX_KIN,EX_AX_DATA[1].OFFSET)
; $ACT_EX_AX= 1
$BASE = {FRAME: X 0.000,Y 0.000,Z 200.000,A 0.000,B 0.000,C 0.000}
; --------------------------
; ---- Setting tool (TCP) ----
$TOOL = {FRAME: X 257.000,Y 0.000,Z 61.500,A 0.000,B 90.000,C 0.000}
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In your config.dat there is no Tool or Base data.They are set in testprogramm.src. The turntable must be measured as well.
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in config.dat under BASE_DATA. Is the turntable measured and coupled with the robot?
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You dont need to install.It is already in WorkVisual.Just select it as interface.
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Then I read that $ANOUT[1]= cannot be a math formula, just -1 to 1, which means probably -100%...0%....100% scale, so $ANOUT[1]=1 maybe the correct synatx???
Can you confirm me that?
1 is equal to 10V.
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It shows you that is a global point.
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Hi,
I turned on collision detection on a robot KRC4 8.6.8. After teaching the areas in collmonlib.dat the values were saved.
Next day for some reason in collmonlib.dat there were only default values. I imported the file from the backup, but the default values are still there.
Does anyone have an idea what this could be?
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Change Case 2 to Case 32 and Case 3 to Case 64 because you have 6 bit integer
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try to use BRAKE instead of BRAKE F
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$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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