Well,actually I know how to make that robot will ignore the axis while moving. The point is, how to do that even jogging from smartpad wont work?
$VEL_EXTAX[] works but only while program is running,jogging from the smartpad is still available
Well,actually I know how to make that robot will ignore the axis while moving. The point is, how to do that even jogging from smartpad wont work?
$VEL_EXTAX[] works but only while program is running,jogging from the smartpad is still available
Hello everyone,
KRC 4, KSS 8.3 there. So, my question is next - is there any way to block external axis from movement?
My first thought was around ex_ax_decouple, but seems it works only when the axis is in 0 position. Because I have unlimited rotation, I cant hit 0 everytime.
Second thought was about using override speed variable, but in that case all axis of the robot will have 0 speed. What do I really need is to block external axis from jogging and moving while,for example, some signals are true.
Thanks for the help in advance!
Hi, Panic Mode, Where can I find it? I mean-which manual? Is there any separate manual for Function Generator or it's built-in into SI 8.3, for example?
Hello everyone,
KSS 8.3 and KRC 4, KR 120 HA there.
So, I actually trying to recreate the weaving that were realized in ArcTech Basic (or Advanced, where they are the same).
So, for this I used :
Then, I used next parameters for amplitude and weave length:
$TECH_C[1].FCTCTRL.SCALE_IN = Lenght ;
$TECH_C[1].FCTCTRL.OFFSET_IN = 0.0 ;
$TECH_C[1].FCTCTRL.SCALE_OUT = Amplitude;
$TECH_C[1].FCTCTRL.OFFSET_OUT = 0.0;
My target is to create the figure,as it was made in Arctech Basic (#Triangle,#spiral and etc.), so
I did this:
$TECH[1].FCT.ORDER=1
$TECH[1].FCT.CPNUM=6
$TECH[1].FCT.CPS1.X1=0.0
$TECH[1].FCT.CPS1.Y1=0.0
$TECH[1].FCT.CPS1.X2=0.166666
$TECH[1].FCT.CPS1.Y2=1.0
$TECH[1].FCT.CPS1.X3=0.333333
$TECH[1].FCT.CPS1.Y3=1.0
$TECH[1].FCT.CPS1.X4=0.666666
$TECH[1].FCT.CPS1.Y4=-1.0
$TECH[1].FCT.CPS1.X5=0.833333
$TECH[1].FCT.CPS1.Y5=-1.0
$TECH[1].FCT.CPS1.X6=1.0
$TECH[1].FCT.CPS1.Y6=0.0
Display More
There comes interesting thing that I noticed: each X coordinate of the point should has bigger value than in previous point, e.g.:
And now is the main question - taking into account what I said above, how the spiral weaving was made in ArcTech Basic?
Seems like with the help of $TECHANGLE variable, but I didn't find any approval in ArcTech code.
Did anyone understand the mechanism of spiral weaving?
Thank you in advance!
You have 9 servos connected to this controller, by my count, but the last two on RDC2? That's not normal -- usually you have to fill all 8 slots on RDC1 before you can connect anything to RDC2.
That being said, I doubt this would cause a safety communications issue. How is RDC2 positioned in the hardware tree of your WorkVisual project?
let me explain the issue more clearly and hi everyone,btw.
So, the situation is next:
He had this topology:
ROBOT+Linear axis----->RDC1 (that mounted on robot's base)------>RDC2 (rdc2 is connected to KRC4)<----------2 external axis
So, manhunt disconnected RDC2 and connected RDC1 directly via X31-X21 to the KRC4 .
He created the new project in WV, added there RDC and all components, uploaded the project and got the errors,described above.
i just checked manual for UserTech 3.3 and it looks like any language customization is only possible (supported/documented) for menus, buttons and messages. i see no mention of ILF parameters being language sensitive...
Yep, that's because even with the fact,that some ILF have different language adaptations(as I mentioned before, PTP move,for example), they were created using XML's , not the Usertech.
I think it is impossible untill you will not able to create techpackets by yourself (after you will, you can use .kxr )
Display Moreyou are:
a) failing to provide detailed info (product names and versions, actual code sample etc.). please check 'READ FIRST'
b) drawing wrong conclusions... you think that "English works..." but you have no valid proof ("key" and "English text" are exactly the same texts, how can you be sure which is displayed - if any of them?)
I think he meant that he just tried to write russian words in KFD and it didn't work (words didn't appear in inline form).
The question there is how to translate parameters of the inline forms,that,obviously,were created using Usertech to other languages.
The interesting thing is that when you are changing language of the system, some inline parameters (take simple ptp move, 'base' parameter) are translated,some not,but looks like it is possible.
Hi there, Kss 8.3.32, KRC 4, KR 120 HA
We trying to create our own inline form and everything went fine until the step with structure in config.dat. Default structure seems to be ok, but the main structure for parameters cant be located by robot.
We did everything as in manual,still not working.
I attached our .kfd, some screens and config.dat, could you tell, please,what's wrong?
Hello everyone, KSS 8.3, KRC4, KR120 HA,DKP 400
I need to implement endless rotation on my dkp 400, and I don't know how to do it.
The things that I tried:
1) Asyptp. Everything fine - I can use Asyptp e2 120, Asyptp e2 240, Asyptp e2 359, and it makes whole circle. BUT I cant loop that - you cant use more than 3 asyptp's in buffer.
2) I used input to control endless rotation. Yeah, it worked, while input is TRUE axis rotating (in machine.dat type should be 5 (endless). But the speed is ridiculous low
All i need is to start somehow rotation and then stop,when I need to. Is it possible on kuka?
Ok, I wote to test.txt next letters:
a
b
c
After I launched code from reading.src that I mentioned before (ofc I changed "a" to "r"), nothing happened. Array testchar don't have anything inside.
What I'm doing wrong?
Thank you,sir, I changed
Cwrite($FCT_CALL,STAT,MODE,"krl_fopen","test.txt","a",HANDLE) to
Cwrite($FCT_CALL,STAT,MODE,"krl_fopen","test.txt","r",HANDLE)
Could you tell me,please, how to initialize array in one line?
testchar[]=0 is not working at all. Maybe testchar=0? Or Do I need to write a function to initialize it? (Something like initArray(OUT array[], IN size))
Well, I tried to implement code,that you kindly provided, and wanted to read data from test.txt into array, testchar[]
It's not generating any error or output and that is the problem. In test.txt I only have 4 digits:
1
2
3
4
so In testchar[] I wanted to see [1,2,3,4]
If it not so hard for you,sir,could you tell me, please, what am i doing wrong there? (I attached file reading.src)
As result I need to read 3 real digits, for example
1.23
2.3
4.8
into array of reals in robot. Trying to implement your example right now
hello everyone,
I'm using KRC4 and kss 8.3.8
I would like to read some data from data.txt file into array via KRL. I know that I can open file with cread, but how to parse the data then? Example of data.txt:
1
2
3
4
So what I need to get after reading is data[1]=1, data[2]=2 , etc.
I need to use cwrite If I understood that correctly, so I tried this:
DEF reading( )
decl char testchar
;FOLD INI;%{PE}
;FOLD BASISTECH INI
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
BAS (#INITMOV,0 )
;ENDFOLD (BASISTECH INI)
;FOLD USER INI
;Make your modifications here
;ENDFOLD (USER INI)
;ENDFOLD (INI)
testchar=0
CWRITE($FCT_CALL,STAT,MODE,"krl_fopen","test.txt",testchar, HANDLE)
CWRITE($FCT_CALL,STAT,MODE,"krl_fclose",HANDLE)
END
But my testchar is empty all the time.
Here is my text.txt:
1
Could you tell me,please, where I can find that information?
Hello everyone,
I'm working with KRC 4, KSS 8.3.4
I have an idea to create my own software package, like Kuka's. It's so annoying to copy all programs and make all improvements into interface every time, so I want to solve by installing my own software. I tried to analize Kuka setup files and here what I found: Setup.exe consist of several sorts of binary files that (probably) impossible to decode to understand what they consist of.
Yes, I know that I can create typical setup using python,for example, and then just launch it with "Minimize HMI' option enabled, in Windows of robot, but I want to make the package as Kuka did. Does anyone have experience in this? (Please, don't advice Usertech, it's not about that)
You right, I didn't mention details, my fault, It's kss 8.3.24, and KRC4,sorry for being rude, bad day. Yeah, about the file in runtime - no way to get access to it, I already tried without success. Protect logs with password is a good idea, but you know how that happens - we can't hold the admin/expert password,because wwhen people buy robot complex they want to get ful access to it, and even if password will be knows by several people- they (with high chance of probability) will leak. I was trying to analize that Log mechanism in KSS, and found that some of logs are stored in .csv, some in .evt, Kuka by themselves don't want to anwer how all this works