Already done, Panic mode. I thought that the issue was in the cable,so I tried different wires (x31-x21) from several robots and that didn't work out either.
I returned old topology: KR C4 --> RDC (2) --> Robot RDC (1) where no external axis connected to RDC (2).
It works, but I can not understand why configuration (KR C4 --> Robot RDC (1)) does not works.
I think the problem is not in the RDC memory (CAL, MAM)files.
I tried to even correct the original project, and tried to rebuild it, but it did not work in both cases
Posts by manhunt
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Hi! Here is KR C4, KSS 8.3, KR 120 R2700 extra HA , KL1500_3CV_Q_H_64 and two drives
Work configuration: Robot axis and Linear unit axis connected to Robot RDC (1). Two drives connected to second RDC (2).
Topology: KR C4 --> RDC (2) --> Robot RDC (1).I want return old configuration: Only Robot and linear unit only with robot RDC (1) .without two drives and without RDC(2)
1. I download Robot project to PC
2. The WorkVisual project was reconfigured: delete two drives, delete second RDC (2), delete robot RDC(1), add robot RDC(1).
3. Switch off robot
4. Change hardware configuration: KR C4 --> Robot RDC (1)
5. Switch on robot
6. Deploy new corrected project.It is not works, on KCP I have a messge: (safe device communication error Resolver Digital Converter (RDC))
what am I doing wrong?
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Thank you, lomaxe
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I'm sorry, but apparently, some messages have been deleted. But what is right, $ ET1_TPINFL.X or $ ET1_TFLA3.X?
I have a similar situation, like LOMAXE, and I really want to understand.
The situation with the inclination of the base of the robot is 15 degrees. Is the decision correct, where ET1_TFLA3.B = 15, because LOMAXE, said that this does not work. -
Sorry, panic mode, I adjusted my post. I use UserTech v3.3.2, Kss 8.3.32, KRC 4, KR 120 HA.
Yes, acapulka, you are right, I can not make the inscriptions in the form of entering parameters by the Russian, when changing the system language to Russian. -
Kss 8.3.32, KRC 4, KR 120 HA.
UserTech v3.3.2
I have a problem to translate inscriptions in the list of parameters into Russian.
I created my small technical package by UserTech for entering parameters. created a KFD file, called it WristMoveParams.kfd. I was created a file called WristMoveParams.kxr and WristMoveParams.ru.kxr where he indicated the keywords and their translation, put them in C:\KRC\DATA. but even when I restart with reading files, it does not work. What could be the reason?This is a WristMoveParams.kxr file
XML
Display More<?xml version="1.0" encoding="utf-8"?> <resources xmlns="http://www.kuka.com/schemas/kxr/2009"> <module name="WristMoveParams"> <uiText key="Radius"> <text xml:lang="ru-DEV">Радиус</text> <text xml:lang="en-DEV">Radius</text> </uiText> </module> </resources>
This is a WristMoveParams.ru.kxr file
XML
Display More<?xml version="1.0" encoding="utf-8"?> <resources xml:lang="ru" xmlns="http://www.kuka.com/schemas/kxr/2009"> <module name="WristMoveParams"> <uiText key="Radius"> <text>Радиус</text> </uiText> </module> </resources>
In a KFD-file i have a form:
Code
Display MoreDEFTP WristMoveParams ; tech paramlist DECL PARAM ParamSpiral = {SHORTNAME[] "Val: ", _ VALUE {Name: DEFAULT[] "ACT"}} DECL PARAM ParamSlalom = {SHORTNAME[] "Val: ", _ VALUE {Name: DEFAULT[] "ACT"}} DECL PARAM ParamNOT_MOVE = {SHORTNAME[] "Val: ", _ VALUE {Name: DEFAULT[] "ACT"}} ; tech parameters DECL PARAM Weld_speed= {SHORTNAME[] "Weld_speed ", UNIT[] "mm/sec", _ VALUE {REAL: MIN 0.1, MAX 2000, STEP 0.1, DEFAULT 10}} DECL PARAM Radius = {SHORTNAME[] "Radius", UNIT[] "mm", _ VALUE {REAL: MIN 0.0, MAX 50000, STEP 0.1, DEFAULT 1000}} DECL PARAM Step = {SHORTNAME[] "Step ", UNIT[] "mm", _ VALUE {REAL: MIN 0.1, MAX 1000, STEP 0.1, DEFAULT 10}} DECL PARAM Degrees = {SHORTNAME[] "Degrees ", UNIT[] "Grad", _ VALUE {REAL: MIN 0.0, MAX 720, STEP 0.1, DEFAULT 360}} ;decl tool parameter lists DECL PARAM PL_SPIRAL = {SHORTNAME[] "SPIRAL_PARAM", _ VAR[] "SPIRAL_TYP", SHORTCUT[] "spiral", UNIT[] "spiralACT", _ VALUE {FREE: DEFAULT[] "_"}} DECL PARAM PL_SLALOM = {SHORTNAME[] "SLALOM_PARAM", _ VAR[] "SLALOM_TYP", SHORTCUT[] "slalom", UNIT[] "slalomACT", _ VALUE {FREE: DEFAULT[] "_"}} DECL PARAM PL_NOT_MOVE = {SHORTNAME[] "NOT_MOV_PARAM", _ VAR[] "NOT_MOVE_TYP", SHORTCUT[] "not_move", UNIT[] "not_moveACT", _ VALUE {FREE: DEFAULT[] "_"}} ;plists DECL PLIST SPIRAL[3] -> ParamSpiral SPIRAL[1] = Weld_speed SPIRAL[2] = Radius SPIRAL[3] = STEP DECL PLIST SLALOM[3] -> ParamSlalom SLALOM[1] = Weld_speed SLALOM[2] = Radius SLALOM[3] = STEP DECL PLIST NOT_MOVE[3] -> ParamNOT_MOVE NOT_MOVE[1] = Weld_speed NOT_MOVE[2] = Radius NOT_MOVE[3] = Degrees ; folds DECL FOLD SpiralFOLD[1] SpiralFOLD[1] = toSpiral() DECL FOLD SlalomFold[1] SlalomFold[1] = toSlalom() DECL FOLD Not_moveFold[1] Not_moveFold[1] = toNot_move() ; inlineforms DECL INLINEFORM SPIRAL_Inline = {FOLD[1] SpiralFOLD,PARAM[1] ParamSpiral, STYLE WYSIWYG} DECL INLINEFORM SLALOM_inline = {FOLD[1] SlalomFold, PARAM[1] ParamSlalom, STYLE WYSIWYG} DECL INLINEFORM NOT_MOVE_inline = {FOLD[1] Not_moveFold, PARAM[1] ParamNOT_MOVE, STYLE WYSIWYG} ENDTP
In original en in works, but when I use russian, it's not translated
example of a form in an attachment.
Thanks in advance -
Yes, I did not find it in the manuals. This solution is realy works, thanks alot, Panic mode
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interesting solution ASYPTP {E2 720} #AS_PROG, I'll try to implement it today.
About 2nd variant, when was used input to control endless rotation:
Can I control speed of endless axis by a variable? Thanks in advance -
Hi, 1 month ago I have a situation at my work. Guys from integrators company used an arcweld robot. At the next day I was find a broken tool. I wanted to look Logs, but they was clear...no errors and warnings. Tool is mounted at the collision box. Hiting or crashing the tool would cause to triggering the collision box interrupt and writing at the logbook.
Is it possible to clean the log manually? How, is it possible? Thanks in advance. -
Thanks a lot
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Hello, can anyone help me with a question? I write new programms of arc-welding seams searching by KUKA. It's builded by interrupts of metal touching...like "TouchSense tech" KR16. Question is: I want to teach NEW base by three points (FRAME type) in the process of program-run (Not by menu: StartUp-->Base calibrate... ). Where can I find math libraries or algoritms for it, like standard KUKA's ? Thanks
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Thanks for the tip , I will try to "wrist PTP". but in addition to using inline forms , I wanted to understand how it is set manually by variable.
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I opened .src file in the .txt editor , as no program krc editor on my pc. I apologize for the ascii version of the code. Hard to read and understand
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I have studied in detail the question , and had the idea that instruction $ORI_TYPE =#CONSTANT cancelled by instruction BAS(#CP_PARAMS,2), which is contained in the fold, and variable $ORI_TYPE =#VAR again. Isn't it? How you think?
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Schematic image
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Good day, can someone help me with the orientation control during the circular motion?
I want to do a weld around a cylindrical workpiece, the angle of incidence to the center of the circle and to the base should be permanent for each point of the circle.In the Kuka expert programming the following parameters: $ORI_TYPE=#CONSTANT, $CIRC_TYPE=#PATH, but it's not working.
PTP $POS_ACT
$ORI_TYPE =#CONSTANT
$CIRC_TYPE=#PATH
;FOLD CIRC P7 P8 Vel=2 m/s CPDAT27 Tool[1]:Tool_1_LEFT_LONG Base[2]:TSK_2500_U 2;%{PE}%R 8.3.34,%MKUKATPBASIS,%CMOVE,%VCIRC,%P 1:CIRC, 2:P7, 3:P8, 4:, 6:2, 8:CPDAT27
$BWDSTART=FALSE
LDAT_ACT=LCPDAT27
FDAT_ACT=FP8
BAS(#CP_PARAMS,2)
CIRC XP7, XP8, CA 300.0 C_DIS
;ENDFOLDI heard about option #ORI_TYPE=#ORIGINAL, can anyone help? Thanks in advance