Thank u, Leon. Yes, I had the message about cooling down the brakes.
Posts by lomaxe
-
-
Hi guys!
May be somebody knows, should a robot be mastered after it stops with a STOP 0 in automatic mode during full speed operation?
I only have found this information: -
Thank you for your answers, guys.
I have added initialization of my_handle, declared it in .DAT file, added cclose(), the problem is the same((( -
COPEN assignes 3 to the Handle variable (it's without initializing). Tomorrow I will be at my job and initialize the handle variable as you advised me.
-
Quote
but, since we are asking questions... what is the point of such question? you cannot add one line of code and try it? do you think i am purposely asking you to waste time doing something that may not work? do you think i need to elaborate and back every response i offer? is my record so bad that needs such scrutiny? do you think this is efficient use of my time?
You are surely right, it was stupid question from my side. Sorry...
-
Do you think, this is the reason?
-
Hi, guys!
I've taken on learning the CWRITE and etc. I have two KR C2 robot controllers and I have a very simple program:Code
Display MoreDEF test_cwrite( ) channel :ser_3 :ser_3 $pser_3 decl state_t sw_t decl modus_t mw_t int my_value, my_handle my_value = 123.5 mw_t = #sync copen(:ser_3,my_handle) cwrite (my_handle, sw_t, mw_t, "%d",my_value) HALT cwrite (my_handle, sw_t, mw_t, "%x",my_value) HALT END
But I have faced a problem. CWRITE returns CMD_ABORT and I can't understand the source of the problem
The COM3 is configured as enabled in HW_INF.INI
I have a communication cable like sketched at cable.jpg. May be the reason is missing connection between pins 4 and 6?
I tried to connect pins as it depicted at com.jpg to transfer data and recieve data at the same KR C2. The problem is the same.
Can somebody help me with this question? -
One more question about advance run.
If, for examle, we have subprogram which contains only logic instructions. How main and advance run behave in this case? -
Hi, guys...
Thank u very much for the help. It's got more clear for me now. -
Hi guys.
I don't understand the difference between main run and advance run. For example:$TOOL - Tool coordinate system relative to the flange coordinate system in the main run
$TOOL_C - Tool coordinate system relative to the flange coordinate system in the advance runI know about advance running, but I can't understand, for example, what is the difference between $TOOL and $TOOL_C in terms of main run and advance run.
May somebody help me to understand?
-
Quote
re-seat cards (MFC for example) and connectors
Thank u very much. I have done it and the conroller works normally.
Thanks to all who tried to help me at this topic. -
Thank you very much for your help. The problem was in MFC or DSE cards. I just unpluged it and then pluged in again.
QuoteWhat is the history of this controller? Are you just powering it up for the first time after years in storage? Or was it working correctly until this happened? Have there been any changes made to the robot recently?
The robot and the controller was moved from one country to another. They both were in working state before moving.
-
Hi, guys...
I have a problem.
There is an error at KRC2 controller. RTWLoadVxD( LPVXWRT (#0x1) - Device Driver could not be initialized (not found or wrong path)
Can anybody help me? -
I don't have an oportunity to use fast measrment inputs and a mechanical unit for measuring but these days I performed some experiments with searching and positioning of the workpiece (I used usual inputs and laser sensor) and I noticed, that correction is good when position offset of the workpiece is small. I had good performence when position offset was along the length, width or height. Bad performence when the workpiece was tilted along the length and width. The more the workpiece was tilted, the worse correction performence was. At small tilting along the length or width the correction was very good. But when tilting was big enough, there was a correction (it was seen) but TCP (wire tip) wandered from path (as it seen on the videos).
-
Today I used fast measurment inputs for TouchSense. The result is the same, even a bit worse.
I used such a type of welding power source like that's on video. It's connected to the conroller through deviceNet or profinet or ethernet... The signal about touch by the wire tip is being transmited through the power source to controller, so, it doesn't use fast measurment inputs(((
-
Quote
- Is it tool, base and robot calibration correct?
YesQuote- Which sensor do you using for touch sense?
Keyence IL300Quote- Is it sensor directly connected fast measurement input?
NoQuote- Is it robot base parallel to ground or do you correctly teach a base frame?
YesAbout fast input and usual input. We tried an experiment to understand weather there is a big difference between fast inputs and usual inputs when robot gets a point using keyence. Here are results:
Fast input:
DECL E6POS t1={X 1698.52307,Y -46.8219719,Z 1389.56323,A -176.999680,B 53.7516441,C 177.722382,S 'B0110',T 'B00110010'}
DECL E6POS t2={X 1655.48047,Y -61.4947128,Z 1389.61084,A -176.997833,B 53.7562141,C 177.724472,S 'B0110',T 'B00110010'}
DECL E6POS t3={X 1654.00989,Y -32.6900673,Z 1389.60657,A -176.996384,B 53.7575188,C 177.727478,S 'B0110',T 'B00110010'}
DECL E6POS t4={X 1698.52429,Y -46.8197403,Z 1389.56519,A -176.999496,B 53.7520447,C 177.721832,S 'B0110',T 'B00110010'}
DECL E6POS t5={X 1655.48,Y -61.4957809,Z 1389.61023,A -176.996460,B 53.7561,C 177.725815,S 'B0110',T 'B00110010'}
DECL E6POS t6={X 1654.01,Y -32.6890373,Z 1389.60645,A -176.996964,B 53.7575226,C 177.726883,S 'B0110',T 'B00110010'}Beckoff input:
DECL E6POS t1={X 1699.04883,Y -46.8205185,Z 1389.55249,A -176.999008,B 53.7515793,C 177.722427,S 'B0110',T 'B00110010'}
DECL E6POS t2={X 1655.38684,Y -61.7026863,Z 1389.60645,A -176.997467,B 53.7558327,C 177.725281,S 'B0110',T 'B00110010'}
DECL E6POS t3={X 1653.91150,Y -32.4768715,Z 1389.60303,A -176.994675,B 53.7572632,C 177.729309,S 'B0110',T 'B00110010'}
DECL E6POS t4={X 1699.03796,Y -46.8201408,Z 1389.55737,A -177.001190,B 53.7522545,C 177.720795,S 'B0110',T 'B00110010'}
DECL E6POS t5={X 1655.37769,Y -61.7229195,Z 1389.60596,A -176.996490,B 53.7557716,C 177.726166,S 'B0110',T 'B00110010'}
DECL E6POS t6={X 1653.91809,Y -32.4911270,Z 1389.60278,A -176.994751,B 53.7572098,C 177.729187,S 'B0110',T 'B00110010'}So we decided to connect a sensor to usual inputs...
-
Hi, guys!!!
These day I faced an issue of bad work KUKA.TouchSense technology package. May be something wrong with my programminge skills or maybe something wrong with the KUKA add-on technology package, I don't know. But it works not quite correctly. When I make workpiece offset TouchSense software corrects originally programmed path, but it does it not so good. What I mean? You can see result on a video.1. No workpiece offset, originally programmed path, touchsense is off:
2. No workpiece offset, touchsens is off:
3. 2D offset, touchsens is on:
4. 3D offset, touchsens is on:
Can somebody explain, what's wrong with performing of TouchSense?
-
Quote
Robot is new? If never changing mechanical parts values from rear list is ok load that values in controller and YouTube check that smb and controller have same value
The robot is not new...And I don't know wheather mechanical parts changed before.
I loaded values from the stick which is on the rear on the robot. SMB and controller have the same values.QuoteCheck calibration offset, make fine calibration and update revolution counter.
Do I need special equipment for making fine calibration?
-
Hi, guys..
I'm new to ABB robots and I have a problem with tool calibration. The problem is that after calibration I have mean error about 5mm how I would not try (((
What is the problem? At first I thought that the problem was in the defference between motor calibration data on the sticker on the rear of the robot and what was in the conroller.
I have edited it and updated revolution counters. The problem with tool calibration remained.
What am I doing wrong? -
Quote
panic mode: sorry for editing your post, just fixed the link...
That's ok... But what's wrong with my link?