Posts by spiral

In order to get kinematically coupled in the movement of the TCP you have to declare the 8th Axis as external kinematic in machine.dat.

It should be possible with CREAD/CWRITE function.

SICK also offers large variety of laser sensors.

Check on Laser side there are 16bit assigned for laser power.Use them as SIGNAL as previously described or link to analog output.

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I would have to do it with each palette. Its impossible. It has to be automatic.

You do reference only once on one door.After that the measurement will be automatic.

First do reference measurement on a perfectly positioned door.Make reference points from two different directions for lenght and widht.Save the reference value what u get from the sensor.After that do measurement on each door and calculate the difference to the reference value.

Cheaper version is to have distance sensor mounted on the robot and do measurment before pick up.

What software option are you using? And what exactly u wanna do so this message appears?

There is no user mode SafetyMaintence on VKRC2.In the attachment are the keyfiles for expert mode on vkrc2.
Extract in folder on usb and you can enter expert mode.

u need usb with keyfiles.

Is there any messages? Maybe the approximation cannot be executed.Check the $ADVANCE.

$SOFTN_END[7] and $SOFTP_END[7]

Also u dont need extra GSDML file for KRC4 Profinet.Just use the Profinet Interface and activate the Device Stack if you want to use it as a slave for the PLC.

Simply change in inline form Base 0 to Base 1.

panic mode

yes, can implement the correct machine data.$V_ROBCOR[] gives you KSS version.

Check the variable $MODEL_NAME[]

Try LIN $POS_ACT.

Try changing the encoder cable for E1.

You need what is called E1 key for opening the cabinet door.It is a common key that is used for electrical cabinets as well.

The coordinates are stored in the .dat file of your module.So copy the module and simply change X,Y values in the .dat file. You can also use OrangeEdit for this and do BASE Shift.