Posts by JacobUnleashed
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Dear all, have a nice day.
Right now I'm developing an application which requires velocity mode control for a KUKA equipped with KRC2, I need to command the velocity of each axis, but not like PTP or LIN conventions, this, since I need to monitor the position of each axis to stop the motion.
Example for a single axis:
DEF Velocity_mode_01
//Current pos of A6 = 0;
curr_pos = $A6_pos; // read current pos
des_pos = 90; //desired pose in degrees for axis 6error = des_pos - curr_pos;
if error > 5
move A6 = +6 m/s;
elseif error < -5
move A6 = - 6 m/s
else
move A6 = 0 m/s;
endEND
Is this possible?, I mean, is possible to command each axis like this?
Thank you, Jacob.
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I've already figured out, thanks.
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Hi you all guys, I have this KR 6/2 with KRC1 Controller (KSS 4.1), I'm working with matlab and RS232 in order to write variables to the controller, I was wondering if it's possible to set the velocity of the LIN motion, I mean, I know how to set the LIN motion, but still don't know how to increase or decrease the motion speed.
Does anybody know how to set it?, and if it's possible to set it by a variable? (example):
LIN p1 vel = i (or something).
Cheers, Caleb.
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My application required control of the robot in real time by simply sending it joint angles or XYZABC positions over RS232 and let it chase it, and send me back the current position.I'm using the same type of application using RS232, my question, How to send the XYZABC positions?
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Hello to every one,
I'm working with this kr6 and his Krc1 controller, I was looking for info about how to set a new tool frame in order to work with this gripper, but expert programming manual only say I have to declare $tool = {desire tool position x,y,z,a,b,c}, I've alredy tried but it seems like tool frame keeps on the same position.
Am I doing something wrong? Am I missing something else?
Any help would be great.
Cheers, Caleb.
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Thank you both, just a final question. Is there any analog I/O or it's just my imagination?
Regards, Caleb.
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Hi you all, I have this KRC1 with KSS4.1, I would like to work with the analog module inside the cabinet (picture 1), it has 16 analog outputs and 16 analog inputs and correspond to the x11 configuration in the manual (picture 2). But the problem is that I can't configure these IO's, I have read that should be configured in the IOSYS file before to call them in a program, but I'm not sure how to do the configuration.My IOSYS is showing too.
If anybody knows how to do it, please let me know .
Regards, Caleb.
;-----------------------------------------------------------------
; IOSYS.INI - Configuration file for the IO-System
;
; Driver entries must have the following format:
; <TYPE><SYSOFS>=<P1>,<P2>,<P3>
;
; Left side=Robot IO parameters
;
; TYPE=INB, INW, INDW, OUTB, OUTW, OUTDW, ANIN, ANOUT
; SYSOFS=is the byte offset in the robot IO-Image (0..x)
; or the analog port number (1..x)
;
; Right side=Driver Parameters (digital)
;
; P1=driver specific parameter (required), usually
; a byte offset the the drivers IO-Image
; P2=a second driver specific parameter (optional)
; or a multiplier (e.g. x4)
; P3=if P2 exists, (optional) a multiplier
;
; Right side=Driver Parameters (analog)
;
; P1=driver specific parameter (required), usually
; a byte offset the the drivers IO-Image
; P2=number of bits (8..16)
; P3=type of analog port
; 0 : right justified without sign
; 1 : right justified with sign
; 2 : left justified without sign
; 3 : left justified with sign
;
;-----------------------------------------------------------------
[CONFIG]
VERSION=1.00[DRIVERS]
MFC=0,mfcEntry,mfcdrv.o
;DEVNET=2,dnInit,dndrv.o
;DN2=2,dnInit,dn2drv.o
;ESR=33,esrInit,esr0drv.o[ESR]
INB50=5,0,x8
OUTB50=5,0,x16[MFC]
INW0=0
OUTW0=0
;OUTW2=2[INTERBUS]
;$IN/OUT[n_1]=(n+1)*8-7
;$IN/OUT[n_8]=(n+1)*8; ------- Inputs --------
;-- Slave Inputs --
INW50=896 ;$IN[401-416]
INW52=898 ;$IN[417-432]
INW54=900 ;$IN[433-448]
INW56=902 ;$IN[449-464];--------- Outputs ------
;-- Slave Outputs --
OUTW50=896 ;$OUT[401-416]
OUTW52=898 ;$OUT[417-432]
OUTW54=900 ;$OUT[433-448]
OUTW56=902 ;$OUT[449-464][DEVNET]
;INB50=0,x8
;OUTB50=0,x8[DN2]
;INB50=5,0,x8
;OUTB50=5,0,x8[DNSC1]
;device net scanner channel 1[DNSC2]
;device net scanner channel 2[LIBO]
[RIO]
[FIPIO]
[BOSCH]
; ------- Inputs --------
INW64=0 ;$IN[513-528];--------- Outputs ------
OUTW64=0 ;$OUT[513-528]
OUTW66=2 ;$OUT[529-544][PERCEPTRON]
; ------- Inputs --------
INW68=0 ;$IN[545-560] X
INW70=2 ;$IN[561-576] X
INW72=4 ;$IN[577-592] Y
INW74=6 ;$IN[593-608] Y
INW76=8 ;$IN[609-624] Z
INW78=10 ;$IN[625-640] Z
INW80=12 ;$IN[641-656] A
INW82=14 ;$IN[657-672] B
INW84=16 ;$IN[673-688] C
INW86=18 ;$IN[689-704] ERG
;--------- Outputs ------
OUTW68=0 ;$OUT[545-560] model, partner
OUTW70=2 ;$OUT[561-576] color, pointnr
OUTW72=4 ;$OUT[577-592] phase, fixture, command
OUTW74=6 ;$OUT[593-608] wrist angle roll
OUTW76=8 ;$OUT[609-624] wrist angle roll
OUTW78=10 ;$OUT[625-640] wrist angle pitch
OUTW80=12 ;$OUT[641-656] wrist angle pitch
OUTW82=14 ;$OUT[657-672] wrist angle pitch
OUTW84=16 ;$OUT[673-688] wrist angle yaw[SBIP]
;Portnr.=COMBUFIndex+1OUTW0=0 ; TASK WRITE : $OUT[1-16]
OUTW2=2 ; MMI WRITE : $OUT[17-32]
OUTW4=100 ; KEY WRITE : $OUT[33-48]
OUTW6=102 ; PARAM1 : $OUT[49-64]
OUTW8=104 ; PARAM2 : $OUT[65-80]
OUTW10=106 ; PARAM3 : $OUT[81-96]
OUTW12=108 ; PARAM4 : $OUT[97-112]
OUTW14=110 ; PARAM5 : $OUT[113-128]
OUTW16=112 ; PARAM6 : $OUT[129-144]
OUTW18=114 ; PARAM7 : $OUT[145-160]
OUTW20=116 ; PARAM8 : $OUT[161-176]
OUTW22=118 ; PARAM9 : $OUT[177-192]
OUTW24=120 ; PARAM0 : $OUT[193-208]INW0=0 ; TASK READ : $IN[1-16]
INW2=2 ; MMI READ : $IN[17-32]
INW4=100 ; KEY READ : $IN[33-48]
INW6=4 ; RESULT1 : $IN[49-64]
INW8=6 ; RESULT2 : $IN[65-80]
INW10=8 ; RESULT3 : $IN[81-96]
INW12=10 ; RESULT4 : $IN[97-112]
INW14=12 ; RESULT5 : $IN[113-128]
INW16=14 ; RESULT6 : $IN[129-144]
INW18=16 ; RESULT7 : $IN[145-160]
INW20=18 ; RESULT8 : $IN[161-176]
INW22=20 ; RESULT9 : $IN[177-192]
INW24=22 ; RESULT0 : $IN[193-208][PROFISL]
; ------- Outputs --------
OUTW0=0 ; $OUT[1-16]
OUTW2=2 ; $OUT[17-32]
OUTW10=4 ; $OUT[81-96]
OUTW12=6 ; $OUT[97-112]; ------- Inputs ---------
INW0=0 ; $IN[1-16]
INW2=2 ; $IN[17-32]
INW10=4 ; $IN[81-96]
INW12=6 ; $IN[97-112][PROFIMA]
[PBMASL]
; ProfiBus MAsterSLave
; Remark: different right side parameters
; Examples:
; INW8=127,4,x1 slave modul (DP-Address 127), 4 bytes offset, data lenght 1 word
; OUTB10=10,0,x2 master slave (DP-Address 1-122), 0 bytes offset, data length 2 bytes
; ANIN1=4,2,12,0 DP-Address 4, 2 bytes offset, data length 12 bits, right justified without sign[END SECTION]
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Thank you all, and panicmode.. you answered twice and none for good, I just ask for some help.
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Hello everyone, I'm about to star communication between pc and krc1, my kss is v. 4.1 and I would like to communicate via serial port COM1, does anybody have some documentation or some manual to read?, when we bough this robot it didn't come with nothing. What should I read firts, I've alreay have knowledge about rs232, but if somebody have something to avoid me to waste time, I would appreciatte.
Regards and thank you, Caleb.
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Hi you all guys.Last week I was having this problem with my old krc1: https://www.robot-forum.com/robotforum/kuka-robot-forum/can't-initiallize-windows-in-krc1/
Due to, my work-team and I decided to reboot the system, in order to windows95 works as the beginning.
As I know, there should be a file into the local disk which could boot the system properly, the main problem is I can´t have access to windows (as explained in the prev post), so, does anybody have this file?, or some file which allow me to recover the system?, if is this the case, also some instructions or some steps to follow in order to recover the sytem.
Rergards, Caleb.
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Is RSI compatible with KSS 4.X, or just KSS 5.X and later?
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WIN95 needs a startup floppy - there is copy of the boot floppy on KUKA CD with software.
WINXPE installs from CD (boot order needs to be changed in BIOS)I'm having same troubles with my krc1, does it has a copy too?
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We are trying to communicate robot with a pc, more specific, via matlab, in order to test control programs and those things.
I just remove the 3com adapter, but still doesn't work.
In case of re-installing kss, how to get the kss?, should I have it in a disc or something?, can I have some idea about how to reinstall kss?
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Thank you for your reply.
I'm trying to install this driver because network adapter was not working well, I've been trying to establish connection via ethernet and nothing happen. I went to the windows interface (on hmi) and I realized that this network adapter was not working, I saw in the device manager this yellow flag on the device (3com network adapter).
In addition, this device is not an external device, when we get this kuka this thing came with it. That's the reason we tried to establish the connection.
What i did:
-Go to device manager an see network adapters.
-Select the not-working device, and update the driver.
-Connect the network adapter to a router.After this steps, the pc ask me to reboot the system in order to the device were properly working. After that, windows95 couldn't start any more (showing in pic 1).
In addition, notice that I didn't touch other networks (there was couple more, rtacc and other), I just Update the driver for 3com adapter in order to establish ethernet connection with the robot.
One more thing, normally, after the screen showing in pic 1, windows started fine and then display something like vx works with vx win, and something like that, but now this thing is gone, and only keeps waiting for net.
Hope you know something about, or know somebody who can help me. And many thanks.
Cheers, Caleb.
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Help!.
I've been working with an old kuka controller krc1, after trying to install a driver for a network adapter I decided to reboot the system, and now windows 95 can not start, displaying: c:>Windows/net_start.
Do anybody have some idea of what's happenig?