what proof you have for that? Load is not just mass ...
How can I check the ballast resistors ? Are they inside the KSP ?
I'd hate to open these babies...
Hi Panic, the errors come when the robot is cold and haven't budged a micron, so I'm pretty sure load, mass, inertia, gravity have nothing to do with my issue.
Thanks Danny,
I don't use WorkVisual because I don't have a free ethernet port in my bay 
This is helpful nonetheless.
I guess I'll spray some of that electric contacts cleaner in there, see if it does any good.
Hi Danny,
The tool weight is 40kg ; that should be fine for a KR210.
Could you tell me where to find this WV configuration file ?
Thanks !
Hi !
KRC4 robot here : KR210 R3100 Ultra with KSS 8.3
Recently, I have been having randomly after a cold start the types or error messages attached.
As soon as I move the robot in T1, some scary warning about "general servo error" or "Intermediate circuit voltage too high" pops up.
After performing a new cold start, things are generally back to normal.
Does this mean I should start looking for a used KSU ?
I already changed two of them in less than 2 years ; I'm beginning to believe that they have been under-engineered.
Great ! Thanks.
All that time wasted looking for a "Shift" key...
Hi Hermann,
Actually, it seems to work rather from top-right to bottom-left.
Thanks !
Hi !
Is it possible to copy multiple .src files in the Program folder at once using only the pendant ?
There doesn't seem to be a "Shift" key on the virtual keyboard to do a multi-selection.
Thanks !
Hi !
I just got a second KSP die on me last week.
By chance, although I bought the robot used, it is still under warranty, and I'm getting a free replacement.
First, I wonder if I'm just unlucky to have the two main servo packs die on me (axis 4,5,6 and now 1,2,3) , or if these devices are an achilles heel of the KRC4 ?
Maybe there's a bad batch out there ?
There are the KSP 600-3x40 variants, Article N° : 00198268
I'm thinking of getting my hands on a spare one ; I see one on E-bay that sells for 3 500$, is that a good deal ?
Thanks !
--------
KR 210 R3100 ultra
Article N° : 10012530
Serial N° : 617418
Controller generation : KRC4
Year 09/2011
Weight : 1154 kg
Kuka System Software KSS V8.3.37
I sure would like to know why my KR210 L3100 from 2010 makes this strange noise when axis 2 is rotating.
At first, I thought it had something to do with the balancing piston so I injected new grease in the "ball in sockets" ends, and a bit of oil on the cylinder itself, in case it was the sealing joint, but no : it definitely comes from within the axis 2 assembly.
Could it be the brakes scratching ? The sealing joints rubbing on the aluminium of the frame ? Worse ?
On large movements, it even makes a Chewbacca sound
CNC machines brute-force their way through sharp corners,
Hi Skye,
Thanks for the explanations.
Would the following be a good overall strategy ?
Since I'm generating my paths with Grasshopper, I can pretty much control anything regarding distribution of points.
The idea would be to set a large C_DIS value and control the accuracy in sharp corners by adding extra points closer to the corner than the C_DIS value.
Would that work ?
if you want to use the canonical command [lin or slin] you have to put some points far up to 20mm.
Hi Montanaro,
Thanks for your post.
What do you mean exactly by this ?Do you put a point every 20mm, even on straight trajectories ?
What C_DIS value do you use to prevent "stuttering" on these points ?
Ok, ok, fair enough Panic.
Anyways, are there any milling experts here that could guide me in the lines of :
-In what milling use case does C_Vel give better results that C_Dis ?
-Is there a general rule that can be used to get optimal values for these parameters, depending on the smallest detail/feature in the milling ?
Thanks for the advice, I'll check this point with KUKA
I have a 8KW mill and I'm using very conservative feed rates.
If I set the CDIS to 0.1, the robot makes a little jerk at each point and it's aweful : it makes little dents in the material, and just feels wrong.
If I use a CDIS of 3, the sharp angles are smooshed and the tool exits the material too soon and leaves little ridges.
Are you going to stickle me to death or give me general guidance about CDIS and CVEL for milling ?
Hi Panic,
I tend to add intermediary points on big linear movements to avoid abrupt speed changes when I suddenly have wiggly movements with many points.
Too much approximation is super-bad for fine milling details, but small CDIS values produce a jerky motion which dents the part.
I'm doing some tests at the moment with CVEL, and it's more or less the same problem.
I heard of "S" movements that I can use instead of the usual ones, but I fear that this will lead to too much "smoothing" and it will ruin my precious little details.
Hi Underoom,
I'm struggling to get smooth milling paths on wood.
Could you elaborate on the use cases for C_VEL and C_DIS.
What values do you use generally when you want tight details ?
Best
Hi Marco, I'm also in need of finding the best settings for wood milling.
Did the use of C_VEL eliminate those nasty vibrations ?
What value for C_VEL did you find was the best compromise ?
Thanks,
Err... OK, so what do you guys recommend as the "best" way to switch off a KRC4 contoller ?
I have a main cabinet and a secondary one with my Beckhoff which has a separate power switch.
Would this be a proper sequence for shut-down an start-up ? :
-Shut down control PC
-(once control PC is shut down) Switch off the power on the main cabinet
-Switch down the power on the secondary cabinet
And for start-up :
-Switch on the power on the secondary cabinet
-Switch on the power on the main cabinet (thus cold-starting the system)
Well, I finally found out.
I didn't know about the "Keyboard" button on the upper left of the Smartpad...
YES ! I am THAT ignorant.
Since, up to now, the keyboard would pop up automatically each time I needed to set a value, I assumed it was always the case...
The Kuka way is using WorkVisual in KRC4 which you refuse to use
I don't "refuse" to use it.
See, I'm not an integrator, I would just like to do offline programming to do milling and earn a living, not spend my time fiddling with obscure parameters.
The thing is that the folks who sold me the system botched the configuration, and here I am struggling to straighten things out, and I am truly grateful that folks like you lend me a hand.
The other KUKA way is expert mode and unselected submit
Ok, so there has to be something obvious that I am missing.
Could you please explain to me as if I was a child how to select the wrong value in the $Machine.dat file, delete it and put a new value ?
