Thanks! Too little sleep, too many programming languages.
Posts by deisengard
-
-
I have the following beginning to my program, which I am attempting to run on KSS 8.3. It is more or less copied from the example in the KSS 8.2 "Programming Messages" document. No errors are detected in the code in WV 6. However, once I upload to the KRC4 I am getting compilation errors with the message "Component type incompatible with initial value type" for both lines that set the "soft key" values in the MsgSK array.
Code
Display MoreDEF AdapterSetDown( ) DECL KRLMSG_T Msg DECL KRLMSGPAR_T MsgParams[3] DECL KRLMSGOPT_T MsgOpts DECL KRLMSGDLGSK_T MsgSK[7] INT nHandle, keyNum ; Confirm work surface is clear Msg = {MODUL[] "AdapterSetDown", NR 1, MSG_TXT[] "Is the work surface clear of all fixtures and work pieces?"} MsgSK[1] = {SK_TYPE #value, SK_TXT "Yes"} MsgSK[2] = {SK_TYPE #value, SK_TXT "No"} nHandle = SET_KRLDLG(Msg, MsgParams[], MsgSK[], MsgOpts) IF (nHandle > 0) THEN WHILE (EXISTS_KRLDLG(nHandle, keyNum)) WAIT SEC 0.1 ENDWHILE SWITCH keyNum CASE 1 ; Proceed CASE 2 GOTO ProgramEnd CASE 0 GOTO ProgramEnd ENDSWITCH ENDIF ;... ProgramEnd: END
Am I missing something related to the KRLMSGDLGSK_T type? Something terribly obvious? Any help appreciated.
-
I would like our KRC4 to always do a Cold Start at boot. When I log in as Administrator or Expert attempt to change the default Start Type on the Shut Down screen it gives me the error "Failed to change the start type" (see attached screenshot).
I tried to find the *.REG file that was indicated, but I did not find any called ColdStart.reg or anything like that. There is one called Hibernate.reg, and upon inspection, I decided to try manually changing the associated registry key value. The Hibernate.reg file sets HKEY_LOCAL_MACHINE\Software\Kuka Roboter GmBH\Cross\Boot\ReStartType key to 2, so tried setting it to 1 and 0 (restarting each time, then turning the machine off and back on), but no luck. Still starts from Hibernate.
What is the correct value for that registry key to change the start mode to Cold Start? Could someone post the contents of the ColdStart.reg file (if that is what it's called)?
Thanks in advance.
-
Yep, that was it. That file was essentially empty on the controller. Thanks for providing the correct file!
It looks like that might not be the only messed up file there. I also get the following message after booting: "XML configuration file C:\KRC\USER\WaitForUserList.xml not found." What is that file for?
Thanks again,
Dan -
We have a KRC4 running KSS 8.3.21. After having to rebuild the controller last March, it seems that we lost some options on the SmartHMI. The main one is that the Incremental Jogging Mode options are no longer available--only Continuous mode is listed. How do I get the 1mm, 10mm, etc options back?
We also lost the Play and Jog functions from our main Key Group. How can I modify our main Key Group to exclude E1 (which we can access in a separate Key Group) and to have the Play and Jog functions again?
The attached image shows the way the interface looked BEFORE the rebuild. The circled items are the ones now missing.
Any help would be appreciated!
-
Thanks panic mode. I have the KRC4 and EL6695 set up as you described, and I believe I understand how the signal assignment works. Maybe this should be self-evident, but when it comes to setting the state of the safety signals, am I correct in understanding that the TwinSAFE logic must incorporate all the appropriate outputs from the controller as well, e.g. signal ZS (enabling switch) for T1/T2?
-
I purchased TwinSAFE modules (logic and I/O) for our Beckhoff PLC along with the EL6695-1001 bridge which enables FSoE communication between the PLC and our KRC4 (KSS 8.3.21). Is it true that if I want to use the TwinSAFE modules and FSoE to handle safety control for the robot, the TwinSAFE safety configuration has to take over every aspect of safety that the KRC4 safety controller otherwise handles (i.e. for single point of control)? Has anyone been through this process before? Got any tips to share?