Posts by IlFincoITA

  • STOP BUTTON in AUTO EXT

    Hi! I need to understand something. When we are in AUTO and the drives are on and the program is running if I pressed to stop button (that squared red on the KCP) the robot stop and the drives still remain on. The same thing doesn't seem possible in AUTO EXT where there is no input for this purpose. The only similar thing that seemed possible to me was through the management of MOVE_ENABLE, but it's not the case. Or rather, according to the graph on page 294 of the "Operating and Programming Instructions for System Integrators," where the "Restart after motion enable" is described, if MOVE_ENABLE switches to false, the drives should remain on. However, in the description of the system variable $MOVE_ENABLE, it is explicitly stated that the drivers are turned off.

  • INTEGRATIONE OF LINEAR AXIS

    A linear axis robot system has just arrived at the company. However, in the loaded project on the controller, the axis has not been included, and I only have the robot. The insertion of the KL 4000 axis is done by importing the object from the catalog in WorkVisual. I would like to summarize below what I have done to make sure I understood correctly.

    The system appears as shown below.

    Now it seems to me that the robot is mounted at 90° and the rack is in position 1

    This following part is completely unclear to me, but according to the manual, I should simply enter the values related to how the robot is mounted on the axis. These values are reported in the manual.


    What I expect now is that this is a unified system and that each registered point will now consist of X, Y, Z, A, B, C, and E1.

    So, if I register a point relative to a base, all the coordinates will be relative to that base, including the linear axis. In other words, if I move the base, the entire system will follow it, just as it happens without the linear axis.

  • RAW KRL MOTION WITH $VEL.CP and $ACC.CP

    This is a very good idea... thanks a lot...

    QUOTE: "What you can do manually is to assign your desired values using Display-> Variable->Single. That is actually what the HMI Is doing for you under the hood when you touch up points. Assume e.g. you have a point called xP1. Than you can assign it with the above mentioned menu $Pos_act."

    I was thinking of using something like this... mainly for the customer if they need to review certain points.

    SLIN XPress_Spindle WITH $VEL.CP=MyVel

    IF FALSE THEN

    SLIN Press_Spindle Vel=0.01 m/s CPDAT2 Tool[1] Base[0]

    ENDIF

    If I may ask, is there a more concise way to write "acceleration for all axes"?

    $ACC_AXIS[1], $ACC_AXIS[2], $ACC_AXIS[3] and so on

    SLIN XPress_Spindle WITH $VEL.CP=MyVel, $ACC_AXIS[1]=MyAcc, $ACC_AXIS[2]=MyAcc, ... etc.

  • RAW KRL MOTION WITH $VEL.CP and $ACC.CP

    OK but with raw KRL how do you touch up the point? Without in line forms do you loose the ability to touch up the point.. Wouldn't there be a way to mantain the inline forms and still have speed and acceleration under variable MySpeed and MyAcceleration so I could change them on the fly?

  • RAW KRL MOTION WITH $VEL.CP and $ACC.CP

    Hi! It's my first time attempting to program movements without inline forms. The goal would be to control the speed, acceleration, and deceleration of certain movements using variables. I tried to write the movement like this:

    SLIN XPress_Spindle WITH $VEL.CP=MyVel, $ACC.CP=MyAcc

    What I see is that the speed is working, but I don't notice any differences in acceleration/deceleration, and it seems that the movement is not accelerating at all.

  • LINEAR UNIT KL 4000

    Hi! Just got my first linear unit assembled. What seems strage to me is that the unit works using negative values. I mean with this configuration each E1 point will be rapresented by negative values... why is that? Is there a way to change it?

  • KUKA to/from OMRON PLC vie EtherCat

    This morning I've reached BECKHOFF support and they told me that I need a customized ESI file from KUKA like the one they give me for the EL6695-1001
    I'm awayting the answer from KUKA.

    The Italian support doesn't have a practical example of an application made with this EL6692 with OMRON PLC.

    The strange thig is That KUKA imself sells EL6692 module... the only reason that I've choose EL6692 is that EL6695-1001 is not available within 8 months

  • KUKA and EUROMAP67

    For the safety signals they must be connected to a safety device. Have you got something connected to the extension BUS (SYS-X44)? Usally I put there the EK100 (BECKHOFF) EtherCat coupler and from there a bunch of Inputs and outputs with EL1809 and EL2809 (BECKHOFF terminals). Those terminals have an ESI file description that can be mapped into workvisual.

  • KUKA and EUROMAP67

    EUROMAP67 is an interface that you need to built using both safety and Input output signals. All of them will be wired to a double connector of 25 pins going from Robot to the Moulding Machine and 25 pins coming from the Moulding Machine to the robot.

    No DTM is necessaty to do that...

  • CHAR to INT in KRL

    This is what I need to convert. I receive the order number on Profinet Bus mapped on 8 bytes:

    OrderNo[1]

    OrderNo[2]

    OrderNo[3]

    OrderNo[4]

    OrderNo[5]

    OrderNo[6]

    OrderNo[7]

    OrderNo[8]

    Since OrderNo's CHARs are only numbers I need to convert it into INT

  • KUKA to/from OMRON PLC vie EtherCat

    I'm sorry I didn't get it. Let's mantain KRC and PLC as master... If I do not need FSoE I put in my KRC hardware EK100 and EL6692. On EK1100 I'm connected to X44 EBus and I'll use "Beckhoff EL66xx.xml" to configure the IO to exchange data with PLC (for example 128 Bytes Input and Output)

    On EL6692 I connect the PLC in wich I use the same "Beckhoff EL66xx.xml" to configure the same IO Map of 128 Bytes

    I know... maybe it is difficult to understand for me because I do not use OMRON PLC and my client will implement it... but he doesn't know KUKA so... :smiling_face: :smiling_face:

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