Posts by AndrewWang

Maybe you can try with $ACT_TOOL/BASE,or on_error_proceed.

Under the extenral monitor, you can enter the ALT+SHIT+TAB via keyboard. Maybe you can try this .

Quote from panic mode

very limited exposure to VSS here, but according to documentation this is VSS feature only.

also not sure what the big deal is. if this is in the way, just use large block to area beyond 1025/1026. if needed increase IO size to 8192.

Hello Panic,

Normally i also use this way to avoid input index 1025/102 6 by increasing the IO size.

But recently i met a tricky case, the system defined static true/ false input index (1025.1026) has been configured with 4081/4082 so I'm quite curious about how it was modified. What a pity,after i run the setup of KRC_Release in D partition, it's back to 1025/1026.

Warm Regards

Andrew

Hello everyone !

As we know , the static true/false is defined with $IN[1025],$IN[1026].And the channel index is stored in the system variable $IOSYS_IN_TRUE/FALSE.

But recently i met a tricky case, the system defined static true/ false input index (1025.1026) has been configured with 4081/4082.I'm quite curious about how it was modified.

I go through some guidelines ,in the VSS , it can be configured in the KrcConfig.xml. With the VSS 8.6, the default value of system variable $IOSYS_IN_TRUE/FALSE is 4081/4082.

And i tried to modify them from 4081/4082 to 1025/1026 with the configuration of KRCConfig.xml, it does not work. So i wonder if possible to copy a file from VSS to KSS controller to make it.

Does anyone know if any solution about this?

Many thanks.

Kind Regards

Andrew

CWRITE command can be used to solve your problem.For more details, please refer to the CWRITE manual.

As far as i knew for KRC4 serial number, with this number, kuka staffs can figure out the order information via SAP system,for exmaple, customer,robot type,order quantity...

I had some experience between KRC4 controller and Mitsubish Q series PLC. You can have options as below:

1.Via Profibus :

Mitsubish side needs QJ71PB92V module and KRC side need Beckhoff EK1100+EL6731-0010

2.Via DeviceNet :

Mitsubish side need QJ71DN91 module and KRC side need Beckhoff EK1100 +EL6752-0010

3.Via Ethernet/IP(Not Sure Q series or IQ-F series PLC)

Mitsubish side need QJ71EIP71 module and KRC side need KUKA.Ethernet/ip Option

4.Via CC-LINK

Needs Anybus gateway ：AB7694 (CC -LINK SLAVE -EtherCAT Slave)

5.Via CC-LINK IE

Needs Anybus gateway ：AB7691 (CC -LINK IE Field SLAVE -EtherCAT Slave)

Hope this can help you !

If you want a standard project, perhaps you can make a master image where you can have same version KSS/Option package/same program ..

As far as i knew, each automative manufacturor has their own standard and master image.

Quote from Ammu

hi everyone

i am trying to connect the NIC card to the KUKA robot using the C++ windows form application which i downloaded to the kuka system .

any help regarding that . is it possible to connect kuka with NIC using c++ in KUKA system?

As what i have had a try in the 8.3 controller years ago , it's possible to insert another network card ( Intel pro 1000) ,but you have to install the network driver . You can have a try.

Perhaps you can choose mxAutomation as your choice ,as far as i knew ,kuka has coorperated with mitsubish to set up this between robot and PLC.You can talk to kuka local for this inquiry.

This is right,actually , for both iiwa and robot of KRC4 ,they use the same GSDML file in PLC side via profinet communication.

You can declare N_CYC in the Config.dat and then it will be a global variable(DECL INT N_CYC=0).

In the next step, you can configure the variable in the configMon,you can refer to the manual for the Syster integrator where there is a chapter named configuring the variable overview(KSS 8.5: 6.9,KSS 8.3 :6.10).

You can declare N_CYC as global variable and then take use of monitoring the variable via:

1.Go to Dispaly ->Variable ->Single and enter your variable you want to check;

2.ConfigMon: Display->Variable->Overview

Quote from Koppel

Do I understand correctly that if I do not make a call to the external program BAS.SRC, the inline forms in my program will not work and I will not be able to create new ones.

What are the risks if I do not include the row:

Code

EXT BAS (BAS_COMMAND :IN,REAL :IN )
BAS (#INITMOV,0 )

Tools, Bases, Speeds, Accelerations can remain unchanged from the previous program that was run before?

If you are experienced , it's no need to use BAS(#INITMOVE,0).For example:

FDAT_ACT=FDEFAULT
FDAT_ACT.TOOL_NO=1          
FDAT_ACT.TOOL_NO=1          
FDAT_ACT.IPO_FRAME=#BASE  
BAS(#FRAMES)
PDAT_ACT=PDEFAULT
PDAT_ACT.VEL=50          
PDAT_ACT.ACC=20            
PDAT_ACT.APO_DIST=5
PDAT_ACT.APO_MODE=#CDIS
BAS(#PTP_DAT)
PTP {X 100 ,Y -100 ,Z 810 ,A 0 ,B -20 ,C 75} C_DIS

Quote from Aga_k2

Hello,
i need help .

Does anybody know how to set Profisafe address in iiwa? I know how to change it in KRC4, but i can't found this option in Sunrise.Workbench.
When i try do it by Work Visual (entering here by ioconfiguration.wvs from workbench) and clicking on SafetyControl i get error: You have to add least one kinematic machine to the controller before opening the safety configuration! I also havent found any informations in documentation.

Please, help...

Display More

Before you configure ProfiSafe address, please make sure the option named KUKA.SUNRISE PROFINET M/S has been installed , then go to the stationSetup-Configuration where you can find it (You can refer to the picture as attached.)

AS for the error ,please check if the right robot type was coupled with the controller( See Topology as pictured shown)

Quote from Sezgin KURU

hi everyone,

I have a question. Can ı create button or page in KSS 8.x.x like in myHMI ?

Of course , you can .If you have the skills of development and knowledge of KSS,you can make your own plug-in .If not, you have the other option to purchase the option named EsayHMI from KUKA or myHMI from OrangeApps.

Quote from evo85210

Any free 3rd party VNC suggestions?
I see that the op of this thread said RealVNC doesn't work.

Then someones said UltraVNC works, but on a later post someone said it doesn't work.

And if a VNC server is running in the background, would this impact the controller in anyway? ie slowdowns?

regarding KSS 8.5, previously Mackavie said they got RDP working on 8.3.9, so in theory 8.3 also supports RDP over KLI?

UltraVNC is a free 3rd party software that can work well . With what you mentioned RDP working on 8.3.9, i'm not sure and i only tested it once ,because usually i have taken use of VNC since KRC2 .

You have 2 ways to set up remote connection via KLI interface:

- Use 3-rd party VNC or kuka option-Remotesupportview;

-Upgrate your system to KSS 8.5;

Quote from Koppel

I also want to evolve out of the inline forms.

Do I understand correctly that I can specify the velocity, acceleration of the axis, the tool and the base in the DAT file and by using the command BAS() in the SRC file I load these values to be used... as long as the DAT and SRC filenames match?

Now if I want some of the position changes to be faster than others I need to change the velocity values in the middle of the program again.

Do I just add these rows in the middle of my program?

Code

FOR I=1 TO 6
$VEL_AXIS[I] = 100 ;all axis velocities to 100%
ENDFOR

And if I want to change the base in the middle of my program I add this row?

Code

$BASE=BASE_DATA[2]

There could be a risk there when moving back to points prior to this BASE changing line as these will be completely offset from their original position. Even home in BASE_DATA[1] is completely different from home in BASE_DATA[2].

EDIT2: Splines in raw KRL.

SPLINE … ENDSPLINE defines a CP spline block. A CP spline block may contain SLIN, SCIRC and SPL segments

PTP_SPLINE … ENDSPLINE defines a PTP spline block. A PTP spline block may contain: SPTP segments.

I don't really understand what the difference is between them.

Code

PTP_SPLINE WITH $VEL={CP 1}
SPTP P1
SPTP P2
SPTP P3
SPTP P4
ENDSPLINE

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The following code is for old motion,for each motion you can parameterize it differently based on your requirements.

DEF Motion_Example( )
DECL INT I
;------------Motion1------------------------------------------------
BAS(#VEL_PTP,30)                         ;;Set PTP Axis Velocity
BAS(#ACC_PTP,50)                         ;;Set PTP Axis Acceleration
PTP{A1 0,A2 -80,A3 80,A4 50,A5 60,A6 90}
;-------------------------------------------------------------------
;------------Motion2------------------------------------------------
FOR I=1 TO 6
 $VEL_AXIS[I]=40                         ;;Set PTP Axis Velocity        
 $ACC_AXIS[I]=70                         ;;Set PTP Axis Acceleration
ENDFOR 
PTP{A1 0,A2 -90,A3 90,A4 0,A5 0,A6 0}
;-------------------------------------------------------------------
;------------Motion3------------------------------------------------
$BASE=BASE_DATA[1]                      ;; Set Base data
$TOOL=TOOL_DATA[1]                      ;; Set Tool data
$LOAD=LOAD_DATA[2]                      ;; Set Load Data
$VEL.CP=0.3                             ;; Set CP motion Velocity
$VEL.ORI1=100                           ;; Set CP Swivel Velocity
$VEL.ORI2=100                           ;; Set CP Rotational Velocity
$ACC.CP=2.0                             ;; Set CP Acceleration
$ACC.ORI1=200                           ;; Set CP Swivel Acceleration
$ACC.ORI2=200                           ;; Set CP Rotational Acceleration
$APO.CDIS=0.5                           ;; Set Approximation Distance
LIN {X 100 ,Y -100 ,Z 810 ,A -10 ,B -20 ,C 75 } C_DIS
;----------------------------------------------------------------------
;------------Motion4---------------------------------------------------
BAS(#BASE,1)                            ;; Set  Base Data
BAS(#TOOL,1)                            ;; Set Tool  Data
BAS(#VEL_CP,0.5)                        ;; Set CP Motion Velocity
BAS(#ACC_CP,80)                         ;; Set CP Motion Acceleration
LIN {X 200 ,Y 210 ,Z 1010 ,A 10 ,B  10 ,C -75 }
;----------------------------------------------------------------------
;------------Motion5---------------------------------------------------
$BASE={X 0,Y 0,Z 0,A 0,B 0,C 0}         ;; Set Base Data
$TOOL={X 0,Y 0,Z 0,A 0,B 0,C 0}         ;; Set Tool Data
$LOAD={M -1.0,CM {X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0},J {X 0.0,Y 0.0,Z 0.0}}
$VEL={CP 0.3,ORI1 100,ORI2 100}         ;; Set CP Motion Velocity
$ACC={CP 2.0,ORI1 200,ORI2 200}         ;; Set CP Motion  Acceleration
$APO={CVEL 50,CPTP 50,CDIS 1,CORI 1}    ;; Set Approximation Data
$IPO_MODE = #TCP                        ;; Set External TCP
LIN {X 100 ,Y -100 ,Z 810 ,A -10 ,B -20 ,C 75 } C_DIS
;-----------------------------------------------------------------------
;------------Motion6----------------------------------------------------
FDAT_ACT=FDEFAULT
FDAT_ACT.TOOL_NO=1                    ;; Set Tool Data
FDAT_ACT.TOOL_NO=1                    ;; Set Base  Data
FDAT_ACT.IPO_FRAME=#BASE              ;; Set IPO Mode
BAS(#FRAMES)                          ;; Set FDat data
BAS(#TOOL,1)                          ;; Set Tool and activate load
LDAT_ACT=LDEFAULT                      
LDAT_ACT.VEL=0.5                      ;; Set CP Velocity
LDAT_ACT.ACC=20                       ;; Set CP Acceleration
LDAT_ACT.APO_DIST=5                   ;; Set Aproximation Distance
LDAT_ACT.ORI_TYP=#VAR                 ;; Set Orientation type
BAS(#CP_DAT)                          ;; Set LDAT  
LIN {X 200 ,Y 210 ,Z 1010 ,A 10 ,B  10 ,C -75 } C_DIS
;-----------------------------------------------------------------------
;------------Motion7----------------------------------------------------
FDAT_ACT=FDEFAULT
FDAT_ACT.TOOL_NO=1                    ;; Set Tool Data
FDAT_ACT.TOOL_NO=1                    ;; Set Base Data
FDAT_ACT.IPO_FRAME=#BASE              ;; Set IPO Mode
BAS(#FRAMES)                          ;; Set FDAT Data
BAS(#TOOL,1)                          ;; Set Tool and activate load
PDAT_ACT=PDEFAULT
PDAT_ACT.VEL=50                      ;; Set PTP Velocity
LDAT_ACT.ACC=20                      ;; Set PTP Acceleration
LDAT_ACT.APO_DIST=5                  ;; Set Aproximation Distance
BAS(#PTP_DAT)                        ;; Set PDAT Data
PTP {X 100 ,Y -100 ,Z 810 ,A -10 ,B -20 ,C 75,S 2,T 8 } C_DIS
;-------------------------------------------------------------------
;------------Motion8------------------------------------------------
PDAT_ACT={VEL 30,ACC 100,APO_DIST 50}           ;; Set PDAT Data
FDAT_ACT={TOOL_NO 6,BASE_NO 1,IPO_FRAME #BASE}  ;; Set FDAT Data
PTP {A1 5,A2 -90,A3 100,A4 5,A5 10,A6 -5,E1 0,E2 0,E3 0,E4 O,E5 0,E6 0}
;-------------------------------------------------------------------
;------------Motion9------------------------------------------------
$BASE={X 0,Y 0,Z 0,A 0,B 0,C 0}         ;; Set Base Data
$TOOL={X 0,Y 0,Z 0,A 0,B 0,C 0}         ;; Set Tool Data
$LOAD.M=-1.0
$LOAD.CN={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
$LOAD.J={X 0.0,Y 0.0,Z 0.0}
$VEL={CP 0.3,ORI1 100,ORI2 100}         ;; Set CP Motion Velocity
$ACC={CP 2.0,ORI1 200,ORI2 200}         ;; Set CP Motion  Acceleration
$APO={CVEL 50,CPTP 50,CDIS 1,CORI 1}    ;; Set Approximation Data
$IPO_MODE = #BASE                       ;; Set Robot guided TCP
$ORI_TYPE = #CONSTANT                   ;; Set CP Orientation Mode
$CIRC_TYPE = #BASE                      ;; Set CIRC Orientation Mode
CIRC {X 5,Y 0, Z 9.2},{X 12.3,Y 0,Z -5.3,A 9.2,B -5,C 20}, CA 260 C_ORI
;-------------------------------------------------------------------
;------------Motion9------------------------------------------------
PTP_REL {A2 -30}                           ;; Axis Relative Move
PTP_REL {X 100,Z -200}                     ;; Base Relative PTP Move
LIN_REL {X 100,Z -200}                     ;; Base Relative LIN Move
LIN_REL {X -100} #TOOL                     ;; Tool Relative LIN Move
CIRC_REL {X 100,Y 3.2,Z -20},{Y 50},CA 500 C_VEL    ;; Base Relative CIRC Move
END

The diference between PTP spline block and CP spline block is like the diference between PTP and CP motion,they are just 2 diferent motion types.

Quote from evo85210

so is there any settings you need to set on the computer side?

Just tried X47 and X43, neither of them worked for me.

With the remote conenction into robot controller, you have no need doing any settings in robot controller, but you have to configure your IP address of Network(Same range : IP 192.168.0.100,Subnet:255.255.255).Be careful and enjoy it!!