Posts by Martin84

Recently my KSP 600/20-ESC was damaged and I'm wondering what the differences are between the different KSP indices. I've already seen the indexes:

00-111-846

00-105-352

00-115-115

00-134-525

I wonder if using KPS with a different index as it was originally will cause problems. KRc 2 control

Thanks . Yes, I always make a copy

Rather, I meant the last option, edit HMI configuration. I used to do something similar on krc2, unfortunately it was a long time ago and I don't remember exactly. Usually the locations and names of the files are similar between krc2 and krc4 to the configuration. Can you tell me the file location and exact name pliku?

Is it possible to somehow block the standard user from editing the program. I have a problem lately of the type of adding new lines to the program by operators. Krc4 v8.2.16

Do all krc4 robots have an absolute accuracy model created? Whenever I encountered a robot with krc2 control, there was no problem with the .pid file. I know that the file name and file extension has changed to krc4 unfortunately I can't see this file anywhere. The files I have are "attachment" . Robot KR240R2900 ULTRA C4 CLG .

Yes, the sensors have has analog output.

Basically, the topic is finished, I wrote the support for searching and calculating the base, at the moment I am in the testing phase and adding a safety function. Panic mode has an analog output and one digital input and an output.

Quote from SkyeFire

Co? Ustawienie Priorytet nie ma wpływu na uruchomienie przerwania.

You got me wrong, that's not what I meant. Of course is affected by priority setting.

Quote from Lemster68

How in the world does a laser work from -80mm to 80mm? I am thinking the beam is emitted from the sensor in only one direction and would function only in the positive distance range.

HG-C1200-P PANASONIC the display shows -80 to 80 .

Yes, the sensor has a digital output connected to $ in [22].

Laser sensor from -80 to 80 mm. Discrete output triggering is 4 mm from the base value. So the base value is 20 mm, if it increases by 4 mm, then with the value of 24 mm $ w [22] = true.

The priority 1 of the interrupt is the result of the test, so the interrupt does not start while running to the point LIN POS_1 in the program search_1, but only after its completion, i.e. after reaching the end of LIN POS_1, it goes to STOP_Search ().

I declare in .dat but I didn't want to move the .dat file in the forum.

Right now I'm using $ ov_pro for trying.

The search_1 subroutine is designed to add 40mm from the actual position in the specified direction and move towards that point. In the time of displacement, the laser sensor is to detect a fault, if the base value increases by 4 mm, it is to give true to $ in [22] and call the program to stop the run, exit from the program, stop and save points X and Y to real variables. Unfortunately, after giving the signal by the sensor, the program moves to the set value of $ pos_act +40 and after reaching the value of +40, the stop program is started.

SHOULD THE "INTERRUPT" FUNCTION NOT PERFORM THE INTERRUPTION OF THE COURSE OF THE PRESENT POINT AND START THE STOP PROGRAM?

FOR SURE I HAVE TO CHANGE

$ POS_ACT

ON

$ POS_INT

MOMENTLY THIS IS A RAW CODE FOR THE TEST, MEASUREMENT POINTS WILL BE MORE.

I am thinking of activating the distance laser sensor to search for points. The sensor is placed on the robot and it is supposed to find the elevation of the scanned surface when the robot passes. I go to a given point and the robot advances in the direction of e.g. the X axis, the sensor sees the value 0, after hovering the sensor and showing the value, e.g. 5 mm, the robot stops, saves the point and goes to the next point that must be measured. There will be 8 measuring points. I'm curious how you would do it. I am only interested in looking for these points, stopping, restarting to the next point, recording these points. Laser sensor annalog output from 0 to 5 V, learning function, searching for points, learning up to 3 points. KSS control kr4 8.2.

Problem solved, some time has passed, I had to release the robot to work, so I did not approach the robot for a long time.Today I set up what I generated earlier with a small tweak , changes it :

FRAME $ET1_TA1KR={X 0.0,Y 0.0,Z 450.0,A 0.0,B -90.0,C 0.0} 

FRAME $ET1_TFLA3={X 0.0,Y 0.0,Z 0.0,A -90.0,B 90.0,C -90.0} 

FRAME $ROBROOT={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 180.0}         
 
FRAME $ERSYSROOT={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 180.0}

The robot was to be configured from the seller because I do not have such knowledge in configuring additional axes, and therefore I had such a problem with describing the problems, sorry but I did not know where to start. Thank you for your understanding.Thanks for helping Panic Mode, Fubini .

Calibration kit for small and large robots not used at all, price: 1862 euro, price negotiable.

A working robot calibrator Art.Nr. 69-186-120-15 .Price 1130 euro, negotiable.

On the left, a new generated configuration from Wov, on the right, the machine.dat file from the robot.

Link to compare

Does anyone have any suggestions?

I compared the standard $ machine.dat file with the file from my robot, and I have a few differences, some of them less important, but some of the differences caught my attention:

Data from the robot :

$RAT_MOT_AX[7]={N 34598900,D 1000000}


Standard data :

$RAT_MOT_AX[7]={N -35526926,D 1000000}


Here, in the standard data, the value changes to - it means the direction of the motor rotation, as I remember correctly, and the value changes slightly, where with such a large TCP displacement when the E1 axis itself moves in the Cartesian system, it should not change too much after setting the standard data.

Data from the robot :

$VEL_AXIS_MA[7]=4000.0


Standard data :

$VEL_AXIS_MA[7]=3750.0


The variable nominal engine speed from the plate shows that it is 3750, if you are wrong correct me.

Data from the robot :

$RED_ACC_EMX[7]=150

Standard data :

$RED_ACC_EMX[7]=210


If I understood correctly, the variable is responsible for braking when pressing the emergency switch.

Data from the robot: 

INT $SIMULATED_AXIS='B0000' 
INT $ACTIVE_AXIS_MASK='B00111111' 
INT $ACTIVE_KAR_MASK='B00111111' 

Standard data :

INT $SIMULATED_AXIS='B0000' 
INT $ACTIVE_AXIS_MASK='B111111'
INT $ACTIVE_KAR_MASK='B111111'

This discrepancy worries me a bit, please let me know if this data may have any impact.

Data from the robot :

$INC_AXIS[1]=1.0
$INC_AXIS[2]=1.0
$INC_AXIS[3]=1.0
$INC_AXIS[4]=1.0
$INC_AXIS[5]=1.0
$INC_AXIS[6]=1.0
$INC_EXTAX[1]=1.0

Standard data :

$INC_AXIS[1]=0.005
$INC_AXIS[2]=0.0005
$INC_AXIS[3]=0.0005
$INC_AXIS[4]=0.002
$INC_AXIS[5]=0.002
$INC_AXIS[6]=0.002
$INC_EXTAX[1]=0.0006


Will this variable have any effect on the correct movement of the robot?

Data from the robot :

$INC_CAR[1]=1.0
$INC_CAR[2]=1.0
$INC_CAR[3]=1.0
$INC_CAR[4]=1.0
$INC_CAR[5]=1.0
$INC_CAR[6]=1.0

Data standard :

$INC_CAR[1]=50.0
$INC_CAR[2]=50.0
$INC_CAR[3]=50.0
$INC_CAR[4]=50.0
$INC_CAR[5]=50.0
$INC_CAR[6]=50.0

Will this have any impact on the correct operation of the robot?

Data from the robot :

DECL REAL $SR_TIME_N=0.100000001 ;REAKTIONSZEIT NOTAUS
REAL $AXIS_JERK[12] ; ERLAUBTER ACHSRUCK [DEG/S^3] / [M/S^3]
$AXIS_JERK[1]=8018.0625
$AXIS_JERK[2]=7085.02002
$AXIS_JERK[3]=7508.86475
$AXIS_JERK[4]=18319.3809
$AXIS_JERK[5]=17378.6543
$AXIS_JERK[6]=25798.0957
$AXIS_JERK[7]=1.00000002E+20
$AXIS_JERK[8]=1.00000002E+20
$AXIS_JERK[9]=1.00000002E+20
$AXIS_JERK[10]=1.00000002E+20
$AXIS_JERK[11]=1.00000002E+20
$AXIS_JERK[12]=1.00000002E+20

Standard data :

DECL REAL $SR_TIME_N=0.1 ;REAKTIONSZEIT NOTAUS
REAL $AXIS_JERK[12]; ERLAUBTER ACHSRUCK [DEG/S^3] / [M/S^3]
$AXIS_JERK[1]=8018.0623
$AXIS_JERK[2]=7085.0202
$AXIS_JERK[3]=7508.8646
$AXIS_JERK[4]=18319.3801
$AXIS_JERK[5]=17378.6551
$AXIS_JERK[6]=25798.0949
$AXIS_JERK[7]=1.0E+20
$AXIS_JERK[8]=1.0E+20
$AXIS_JERK[9]=1.0E+20
$AXIS_JERK[10]=1.0E+20
$AXIS_JERK[11]=1.0E+20
$AXIS_JERK[12]=1.0E+20

Over time, I think the robot has machine data from the KL1500 axle working on the floor. The data that I changed earlier is:

Data before my change:

FRAME $ROBROOT={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} 
FRAME $ERSYSROOT={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}


Where the robot working with KL 1500 should have:

FRAME $ROBROOT={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 180.0} 
FRAME $ERSYSROOT={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 180.0}

The GETRIEBE () program travels 1000 mm, but I have set the path E1 -2000 to -3000, the distance of the E1 travel agrees, but the robot behaves like on a movie .