Posts by MissM

Quote from pdl

Are you already using the built in DCS I/O?

If you're out of Safety I/O and you are surprised by the cost of PLe/CAT4, you may be working in the wrong field. Hopefully you never need to build something with an ATEX rating 😉

Also, of you're using a Safety PLC, you may want to look into using a Safety rated fieldbus.

Not all controllers have built in DCS I/O. I am using a R30iB compact Plus and it doesn't have any.

I am not surprised of the cost but the people who planned the project didn't plan this in the budget and I want to be sure this is the way to do it so I can justify the expense. Anyway...

I'll look into the safety rated fiedlbus, thanks for the hint.

Hi all,

I am currently building a Fanuc robot cell and I need to be PLe/CAT 4 for the estop and fence safety functions (ISO13849). I am using a Safety PLC to interface the ESTOP end FENCE loop as there are other equipments which I need to stop with these signals.

From my understanding of PLe/CAT4, this implies that I need to monitor in the PLC that the safety function is executed properly. Therefore, I tought I'd use the safe I/O connect to get the feedback of the EXEMG and FENCE signals. But I need to get the additionnal safe I/O board and it's expensive. I am not quite sure I am doing this the correct way.

How do you guys do when you need PLe safety level and can't connect the Estop/doors loop directly to the robot ?

What would be the state of the art way to make the safety part of a Fanuc robot cell ?

It's a somehow known problem of V9, but yet unsolved in the software. There's a patch you can do : intall a previous version of the software (V8) before, then intall the latest verison (V9) over it. You will still have the messages, but it will work.

You can find an older version on your Fanuc portal if you have access. If not, just ask your technical support.

I don't know if there is a way to do this through config, but what I usually do when I need a program to run in loop is to put a JMP LBL[x] instruction at the end of program, with LBL[x] at the beginning of the program... I don't know if this helps ?

Hello everyone,

I am working on a project in which I am using to Kuka robots (KRC4) in team : Robot #1 is holding the piece while Robot #2 will do some operations on that piece. In order to do that, the base of robot #2 has to be set to Base [8] : LK_Base, which makes the base of robot #2 to be the tool of robot #1, wherever it is (Roboteam function configured via WorkVisual).

When I manually set the base to 8 via the base and tool menu, my robot's base gets linked to the other robot's tool, no problem.
When I program some movements with robot #2 in the inline form using base #8 (which is my LK_Base), the robots moves according to the position of robot #1's tool, no problem.

But when I try to set the base with the following instructions (because my points are not taught, they are calculated) :

$ACT_BASE = 8
$BASE=BASE_DATA[8]

it doesn't work because BASE_DATA[8] is kind of empty. When I look at it through display->single variable I get "{}". I suppose it is because LK_Base works differently from normal bases. And when my base is set to #8 (by whichever way), $BASE = {X 0,Y 0,Z 0,A 0,B 0,C 0}... So with the instructions above, the robot moves like if I was using $nullframe...

I have also tried to use BAS(#BASE, 8), same result.

With the inline form, I understand the base is set with FDAT_ACT. I have tried to set the base with following line :

FDAT_ACT = {TOOL_NO 1,BASE_NO 8,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}

which I believe is basically the same thing as the In-line form way of setting the base, but it has gone through it without setting anything.

So, does anyone knows how to set the base when it is LK_Base / Any other way of setting a base I could try / How the In-line forms really works to set a base ?

I hope my problem is clear,

Thank you, I hadn't seen the tabs! It worked!

Hi Everyone! I hope this will be an easy question to answer :

I have a kuka robot (KRC4) with deviceNet slave card installed and configured, all working. DeviceNet Master is a PLC. Now, for some application, I need my robot to be master on the network. So, I need to add the DeviceNet master card on the robot. I already have the card and I understand that I should put it between the EtherCat Adapter and the DeviceNet slave card (tell me if I am wrong), but there comes my problem :

--> How do I pull out the whole deviceNet I/O bloc from the din rail ? I don't see anything I can push or pull with a screwdriver like there is usually on din rail mounted equipment !

I haven't found any information in the DeviceNet Manual, so if anyone knows, it would be appreciated!
Thanks a lot!

Hello everyone,

I am new to Kuka robots (but have worked with Fanuc and ABB a lot) and I am trying to understand the BAS function (on KRC4). I know i can use it for TOOL and BASE setting, but I saw it was used for other things also. So my question is : What are all the other things BAS function can be used for ? And what is exaclty the purpose of this function ? I've got trough the programming manuals I have but haven't found any mention of it, any idea where else I could find the info ?

Thanks for your help!

You could try measuring the approximate XYZ distance of the TCP you want and see if what you get with the six points methods looks close to what you should get according to the measures. It could help you see what went wrong with the method.