Posts by Serpantinas

I don't think KRL has offset function, the closest to ABB's offset is LIN_REL which "Executes a linear motion to the end point. The coordinates of the end point are relative to the current position." But I am new here so I don't know everything.

I would still think that you should have manual specified for your controler(if it's safe or not doesn't matter). Do you have CD's? And if no then my best suggestion would be write to KUKA. If their provided(you can always try to ask) example wiring sheme would not work then it's not wiring.

Thanks for in depth explanation. I don't think there will be much vibrations for my base platform to wobble or move because this particular robot will demonstrate welding so it won't be moving fast. And we'll start making our base then.

You should have somthing like this in CD's or on paper: http://www.kuka-robotics.com/res/sps/48ec81…_C2_ed05_en.pdf
but anyways this is 2005 KR C2 edition specs manual and in pg65 there is wiring example for startup, which is what you did, so if everything is connected then I have no ideas. Wait for pros to give some suggestion.

Does all pins fully in their sockets? I had a problem where not all pins were actually connecting. And does your manuals have some wiring schemes for X11(simillar what panic mode provided)?

Hello to all,

I have this task to make platform on which I should mount a robot, but it's my first robot in a company where I'm the only one with a bit of knowledge in robotics. So I ask for advice.

The task is to make some kind of heavy base plate on which I could mount a robot (about 250kg KUKA KR 16 L8 arc HV) and I can't drill holes in the ground. This is because it will go to the exhibition and there might not be a place with ground anchors.

In short: How heavy and what shape (size) plate do I need to mount a 250kg robot only on that plate (without anchors)?
Maybe there are better options than a plate?

Thanks in advance.

Hello,

we are starting to sell KUKA robots and now I have a question with KUKA sim layout 2.2 functions. Can you make conveyor or bag gripper (both from the library) move? I found you can do this by connecting signals from objects to robot, but in KUKA sim layout I can't find this function. Is this function is only in a KUKA sim.pro?

Wiring Miho gave might work(never had KRC2), but in KRC4 you have to be careful and check what cabinet you have european or north american, cause they have different wiring: http://formeta.org/wp/wp-content/…01-576x1024.jpg (not your controler). And you should have your KRC2 specifications manual where you can find X11 conection and check your wiring onece more just to be sure.

Just copy the latest $config.dat to your pc and change Home pos values there(with Notepad, OrangeEdit...).
Then upload the file back to KCR and when asks "Do you want to replace?" press YES.

And by the way search didn't find any motion comand to point HOME in your program.

KSS V8.3, but I looked at those manuals and everything should be fine, thats all I needed, thanks.

Oh man.. you, this forum and this program is life savior(it's hard when you start form scratch with KUKA and don't know esential tools and programing language despite having advanced knowlage in robotics), I just thought is there beter editor where you can see structure better. I'll look into that function and I think it will be perfect. Thanks.

Hello,

ABB have TPWRITE, TPERASE etc. comands for user interface, are there any kind of user interface comands in KRL(didn't found in manuals or I am just blind)? I mean can you make that when program starts it would ask for input("How many parts do you want to produce?")?

Thank you, I expected something simplier maybe with variable type convertion but nontheless I'll try your smart method. The point creation could be easier especially when programing not only with inline forms, but I gues most programing is done offline anyways.

Hello,

got a short question about syntax. How can I adress all points in program? Hope example will make clearer what I want.
Lets say points created by inline forms and I want them all to be in one plane, so I want all points to have Z=0. How to do this in for loop?

FOR J=1 to 15
XP1.Z=0 ; how to change 1 to J(what syntax) that controler would understand.
ENDFOR

I hope someone understands because explanaition was confusing.

Thanks

Hello to all,

currently I'm trying to better understand KRL and thought how should look proper and clear program code(with good structure folds and clear order).
Anyone can share any complete KRL program codes? It doesn't matter for what it is made nor how old it is, even simpliest programs would help(especialy would help programs with base and tool coordinate system manipulations). Thanks.

Serpantinas

SOLVED!! The tool wasn't connected to the A6 axis XDDD

Hello all,

recently tried calibrating my Kuka robot with a permanent marker as a tool(it's TCP not in the line with flange X axis). I did the XYZ 4 point method, but when I entered last point error poped up: maximum allowed error(~20mm) exceeding it's range (min 4 mm). I repeated the calibration with extreme prescision but the resut was simillar. Tried moving reference point but also got the same error(don't remember if it was different). Any ideas what could be wrong(i'm pretty sure I did all calibration sequence correctly)? Maybe it could be mastering fault?

Thanks in advance,
Serpantinas

Just in case anyone looking for Kuka sim pro tutorial. I found a good one(it's not kuka's but it is the same):

Hello and thank you all.

I never thought that this robot forum community would be so nice and helpfull (i'm glad that I became an engineer).
Thanks TygerDawg for in depht explanaition you helped me a lot.

And one more question. If my robot(no tool attached, lets say only a spring) has 8 kg payload and 12 kg supplementary payload, can I presure down plates with 20 kg force?

Hello Fabian and SkyFire,

the robot I'm using can handle 8 kg payload, but that's not the final choice because this project still in simulation state.
I only needed to know how to not break robot or the table and your answers were simple but genius.

Our university had those two professors who knew a simple answer to any given problem and they made me feel like overthinking way too much. That was so simple and the feeling has came back one again . Thanks.