Posts by IlFincoITA

Thanks everyone! For Leon... I'm not shure to have inderstood you approach. Do you mean establish a base, establish a position, than rotate the base and go to the same point rotated. But the result is it a perfect circle? Not a series of small linear points...

Hi! I want to control the Tool orientation during a circular motion. I've assigned a different orientation for the initial, the auxiliary and the final points. The initial and the final points are respected but the auxiliary is ignored. Is there a way to realize a circular motion controlling the tool orientation like what was showed in my picture?

Hi is it possible to change a program variable value from the teach pendant? Are there any alternative... for instance from the winch terminal?

Hi! Yes during automatic or remote. I want to prevent the program from issuing some outputs or case statements to be performed during a robot movement

Hi! Like every robot during a movement the cursor of the program continue going forward for a number of brogramming raws and execute some logic statements. Is there a way to stop the cursor if needed? I know the "with condition" statement using "when at end do" but you can not put in there many things like an IF statement...

Maybe this is the last thing on this matter. Just done the same settings for another Robot and no way to communicate over the PN. Then my eye fell off Device Tab of Profinet. Just inserted the correct subnet mask and dowload the project again on the controller. Now everythig is OK.

Eh eh eh I figure it now that if I detach the profinet cable it cannot be used as a bus error.

Thnaks SKYFIRE. For your question when I select Device, Diagnostic, Use Status Bit, It automaticalli assingn "Bus Error" to an output. Then I connect it on commjutation window. I expected to see it on My Input on the PLC side over the ProfiNET connection but this is not the case.

A few things remain to solve anyway.

I have activated, on Device Diagnostic" the Bus Error, use Status bit. This bit is mapped on $OUT[1] but I can't see this bit on PLC side on BUS Error (I sinply detach ETH cable)

The other thing is like this, I read a 32 bit area using on config.dat SIGNAL velocity $IN[1] to $IN[31]. Now suppose I want to read that area as a real number how can I tell to the sistem that it is in a real format...

OK I solved the problem. Main thing was picking the right GSDML file related the the KSS installed on the controller and ProfiNET version. For this pay attention on Chapter "5.3 Making GSDML files available" on "Profinet Option Manual". Second I need to uninstall and then install again the ProfiNET version on the controller. Third pay attention to the ProfiNET name assingned to the robot and on the PLC hardware configuration, Last thing configure the KLI IP address in the range of PLC one.

Avoid following IPs since they are used internally.
192.168.0.0 … 192.168.0.255
172.16.0.0 … 172.16.255.255
172.17.0.0 … 172.17.255.255

Hi! When I turn OFF the machine the program stop on line number X. The next day I turn the machine on againt and I found the program already in that X line. Usually I think is more safe to reinitialize the program and reset it to be sure of the rebot position and it's controls. But do it manually avery time is criticizable. So is there a way to automatically initialize and reset a program each time the machine is turned on for the first time...

It is cable. Kuka service ask me to install the profinet option package "Profinet KRC-Nexxt.kop" file even inside WorkVisual as optional package. But no way ether. Now I'll try to change the file GSDML version inside TIA Portal... no shure if will help...

But, just to be clear, I'm using the KUKA Robot as a device for the PLC. So on PLC side I integrated into the project the correct (I hope) GSDML file. then uploaded the hardware into PLC. On Robot side the only thing I have to do is decklare it as a Device Stak than insert the number of IO's that there are insertend into PLC side. The set the IP and the PROFINET NAME right?

The IP is set on the panel configuring the network and the PROFINET name is configured into Work Visual... PROFINeT Settings. So no GSDML is needed on Work Visual...

I just did changing it accordignly to the TIA Porta Harware settings (192.168.0.2) I also tried 192.168.1.2 because I read that 192.168.0.X addresses are used internally but nothing change... got the same error...

For Massula, I did not. Anyway this morning I try with KUKA tech service. My other question is if I has configured the KUKA Robot as 192.168.0.2 Profinet Name kuka-kr16 on KUKA side it isn't necessary to configure that address? I do not see where in Work Visual...

Hi! I'm in trouble with this configuration. Following are my steps:

Imported the KUKA Device 8.3 GSDML File into TIA Portal and configure the hardware without the safe IO.
Download to the PLC the Hardware Configuration

On WorkVisual side inser the PROFINET into the extesion bus
Configure checked device stak.
Connect the IO that I need in IO configuration.
Tranfert and activate the project into the robot.

When boot up is completed the only thing I can see is that PNIODriver has been uninstalled. No active I/O connection.

Could someone help me with the thing missed?

Hi! Let's suppose I have three Digital Input and I want to read them not as single bit but for example as Decimal Formatted Byte, because i need to read a decimal numeric code represented by those bits. Is there any way to do it?

Hi! I', new to COMAU but I've started using RoboSim. My copy is registered and functioning. The only thing I didn't undertand is how to import 3D objects. I mean is use Blender and I have tried to insert the files inside the "C:\Program Files (x86)\Comau\RoboSIM\Visual3D\ApplicationData\Static_Models" and it works. But with mine it doesn't. Is there some kind of restriction?

Hi! But enyone have experimented IO-LINK with KUKA? The Italian service doesn't...

Hi! Just got an answer from KUKA. The series:

Bal luff IO-Link-Modul
BNI IOL-102-S01-K019
BNI ECT-xxx-xxx-Z015

It is not currently configurable....