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  1. Robotforum - Support and discussion community for industrial robots and cobots
  2. Members
  3. hiimtom

Posts by hiimtom

  • Have You Ever Crashed A Robot?

    • hiimtom
    • May 16, 2022 at 8:15 AM

    I remember once I had to add some new programs to a robot that grabbed injection molded plastic chairs and placed them on an array of 6 shelves for the chairs to cool. Shelves didn't have any sensors to tell the PLC which locations were occupied, this was all tracked in the (locked) PLC program.

    A day of running in an out of the cell manually removing the hot chairs, resetting the sequence on the HMI, and trying to coordinate with the Injection Mold operator, definitely resulted in the robot placing the fresh chairs in the location of an existing chair - sending them flying into the fence..

    Another funny memory of that job, grabbing a (still warm) chair off the racking, and sitting on it while teaching some of the place points - after about 40s my knees are above my ears and my bum is on the ground, the warm chair had turned into a Salvador Dali clock :grinning_face_with_smiling_eyes:

  • External Axis Rotation Issue

    • hiimtom
    • November 10, 2019 at 9:41 PM

    Can you share the generated .src file from sprutcam?

  • Test LBR Axis in real time

    • hiimtom
    • November 10, 2019 at 9:36 PM

    The LBR uses a the Sunrise controller, not the KRC2.
    How exactly have you plugged in the robot?

  • Changed internal network

    • hiimtom
    • October 1, 2019 at 8:54 AM

    Probably best to use the KUKA Recovery USB to restore the windows image that you took before changing IP addresses.
    Can you see anything if you plug in an external monitor into the control PC?

  • Apply a constant force on a point of contact

    • hiimtom
    • October 1, 2019 at 8:49 AM

    How did you go with this? Did you get a chance to experiment with the setAdditionalControlForce() method?

  • Kuka Krc4 Aut Ex

    • hiimtom
    • July 8, 2019 at 2:15 AM

    I would recommend reading through the "Operating and Programming Instructions for System Integrators" for your relevant KSS version.
    Section 6.18 Configuring Automatic External outlines the signals required for getting your robot moving via External Automatic.

    Should be able to find Manual in this forum, or from your local KUKA support :dance2:

  • Control a KUKA KR210 with TwinCat3

    • hiimtom
    • July 8, 2019 at 2:09 AM

    Check that ProConOS is running from the Diagnostics Monitor.
    Note that mxA versions < 3.0 require ProConOS to be installed on the robot controller via USB before mxA is installed via WoV.
    Make sure your I/O mapping as added to your project with the Controller Reset.

  • CWRITE krl_fwriteln New line

    • hiimtom
    • May 26, 2019 at 7:19 AM

    Ah Ha! :applaus:
    I was opening it using the standard windows notepad that comes with OfficeLite (Win7).

    Opening with Notepad++ shows that krl_fwriteln only adds the unprintable "LF".
    If I open with standard notepad and add text on a new line, it adds "CR""LF'.

    Thanks for the tip to use krl_fputs! + view all characters in np++. That is very good to know..
    No 8.5 version on Xpert yet, but the 8.3 will be perfect for now. Thanks for all the help! :beerchug:

  • CWRITE krl_fwriteln New line

    • hiimtom
    • May 24, 2019 at 10:54 AM

    Hi There! Does anyone have a manual for KSS 8.5 similar to: KSS_82_83_CREAD_CWRITE_en.pdf ??

    KSS 8.5.7 HF1

    It seems that the:

    Code
    CWRITE($FCT_CALL,STAT,MODE,"krl_fwriteln", HANDLE, logText[])


    command does not produce a new line..

    eg:

    Code
    CWRITE($FCT_CALL,STAT,MODE,"krl_fwriteln", HANDLE, "hello"
    CWRITE($FCT_CALL,STAT,MODE,"krl_fwriteln", HANDLE, "world"


    will output the file in C:\KRC\ROBOTER\UserFiles\test.csv: helloworld

    From the KSS 8.3 manual for krl_fwriteln: "An end-of-line character is appended to the character string to be written."

    Thanks in advance!

  • KRC4 Power-Off Delay Time

    • hiimtom
    • May 6, 2019 at 2:23 PM

    Thanks NoMad!

    I have also just found the following from the Sys Variables manual..

    Syntax:

    Code
    $POWEROFF_DELAYTIME=Wait time


    Description: Wait time for shutdown of the robot controller
    The robot controller is shut down after the time set here.

    Type: INT; unit: s


      • 1 … 30,000

      • 0: The robot controller is shut down despite external power supply.


    Default: 3

  • KRC4 Power-Off Delay Time

    • hiimtom
    • April 30, 2019 at 8:17 AM

    Hi All,

    My question is: How can I modify the "Power-off delay time" to a larger number. eg: 240s.
    KSS8.5 System integrator manual Section 4.6.1.

    I am currently on KRC4 KSS8.5 (KSS8.3 should be similar).
    I am looking at the 'Power-off delay time' (Under the Main Menu > Shutdown).
    I was able to run a program in EXT AUT, then switch the mains off for 3s, (causing Stop 0) then switch mains back on and restart my application using ConfMess, DrivesOn, ExtStart. (Emulating a recovery program with the use of a UPS).

    I have found a number of timeouts within C:\KRC\SERVICES\Powermanagement\PMService.config, however I thought I may ask before playing around with these parameters. Thanks!

  • How is $ROBRUNTIME evaluated internally ?

    • hiimtom
    • April 11, 2019 at 5:59 AM

    I do not believe this value is linked to any readable variable (PERI_RDY etc).
    The 'I' symbol can be green even if there is no power to the drives.


      • When you are in T1 and hold in dead man switch; the I turns green, but the brakes will only release once press a jog key.

      • When in operation, if the robot is stationary for >30s while waiting for an input etc.., the drives will switch off and the robot will close the brakes. The robot could theoretically be sitting in this state for hours/days while waiting for product. This timeout value can be modified somewhere i believe...

  • Replace config.dat file

    • hiimtom
    • April 9, 2019 at 6:57 AM

    I believe the Keyboard will only work on the HMI if plugged into the back of the SmartPAD.
    Otherwise, press the Pencil button on the Top left of the SmartPAD, this will bring up the onscreen keyboard.

  • mxAutomation - KRC_Initialize not cooperating

    • hiimtom
    • February 27, 2019 at 1:07 AM

    Are there any messages appearing on the SmartPAD ?

  • KR2150

    • hiimtom
    • February 26, 2019 at 11:50 PM

    There is no such thing as a KR2150.. this is the name for your robot machine data file.
    The model name will be on a sticker on the rotating column of the robot.

  • PROFIBUS Parameterization

    • hiimtom
    • January 30, 2018 at 1:45 AM

    Hello Alexander,

    I believe the link for this Manual is broken.
    I would love to read it if you have an new link?

    Cheers! Tom.

  • Resume program after collision detection

    • hiimtom
    • November 9, 2017 at 2:02 AM

    Hi Kiiwa!

    Thanks for that response.

    However I do not believe I can use this as it will not work with approximated motions.

    do you know if there is a way to change Override in the background task?

  • Resume program after collision detection

    • hiimtom
    • October 18, 2017 at 7:48 AM

    Hi Razzo!

    If I use a break when on an individual motion within a motion block, I am not able to approximate using moveAsync.

    This is the only issue I am having, the other information was just for background..
    HRC is installed and all other parts of the robot program are exactly how I want them.

    My only issue is trying to approximate motions while still monitoring for a collision..

    Cheers for the response!

  • Resume program after collision detection

    • hiimtom
    • October 10, 2017 at 7:14 AM

    Hi There!

    I am working on commissioning an LBR iiwa to work collaboratively with humans.

    Collision detection via the HRC option is already active @ Max external torque: 20Nm.

    One part of the process is as follows:
    1. Robot is moving normally, operator taps the robot and the robot stops.
    2. The robot has stopped and holds its position under impedance control mode.
    3. The user 'taps' the robot again and it continues on its planned path.

    I have done this via wrapping motions in MotionContainers:

    Code
    condition = createCollisionCondition();	
    
                    IMotionContainer motion;
    		do { // motion started
    			motion = festoTool.move(ptp(myFrame).breakWhen(condition));
    			if (motion.hasFired(condition)){
    				resumeAfterCollision();
    			}
    		} while (motion.getFiredBreakConditionInfo() != null); // motion finished

    The Collision condition:

    Code
    private ICondition createCollisionCondition() {
    		double sensCLS = 5.0;
    
    
    		double actTJ1 = myLBR.getExternalTorque().getSingleTorqueValue(JointEnum.J1);
    		double actTJ2 = myLBR.getExternalTorque().getSingleTorqueValue(JointEnum.J2);
    		double actTJ3 = myLBR.getExternalTorque().getSingleTorqueValue(JointEnum.J3);
    		double actTJ4 = myLBR.getExternalTorque().getSingleTorqueValue(JointEnum.J4);
    		double actTJ5 = myLBR.getExternalTorque().getSingleTorqueValue(JointEnum.J5);
    		double actTJ6 = myLBR.getExternalTorque().getSingleTorqueValue(JointEnum.J6);
    		double actTJ7 = myLBR.getExternalTorque().getSingleTorqueValue(JointEnum.J7);
    
    
    		JointTorqueCondition jt1 = new JointTorqueCondition(JointEnum.J1, -sensCLS + actTJ1, sensCLS + actTJ1);
    		JointTorqueCondition jt2 = new JointTorqueCondition(JointEnum.J2, -sensCLS + actTJ2, sensCLS + actTJ2);
    		JointTorqueCondition jt3 = new JointTorqueCondition(JointEnum.J3, -sensCLS + actTJ3, sensCLS + actTJ3);
    		JointTorqueCondition jt4 = new JointTorqueCondition(JointEnum.J4, -sensCLS + actTJ4, sensCLS + actTJ4);
    		JointTorqueCondition jt5 = new JointTorqueCondition(JointEnum.J5, -sensCLS + actTJ5, sensCLS + actTJ5);
    		JointTorqueCondition jt6 = new JointTorqueCondition(JointEnum.J6, -sensCLS + actTJ6, sensCLS + actTJ6);
    		JointTorqueCondition jt7 = new JointTorqueCondition(JointEnum.J7, -sensCLS + actTJ7, sensCLS + actTJ7);
    
    
    		ICondition collisionCond = jt1.or(jt2, jt3, jt4, jt5, jt6, jt7);
    		return collisionCond;
    	}
    Display More
    Code
    private void resumeAfterCollision() {
    		JointTorqueCondition resumeCondition = new JointTorqueCondition(JointEnum.J1, -10, 10);
    
    
    		CartesianImpedanceControlMode soft = new CartesianImpedanceControlMode();
    		soft.parametrize(CartDOF.ALL).setDamping(.7);
    		soft.parametrize(CartDOF.ROT).setStiffness(100);
    		soft.parametrize(CartDOF.TRANSL).setStiffness(600);
    
    
    		ThreadUtil.milliSleep(1000);
    		myLBR.move(positionHold(soft, -1, TimeUnit.SECONDS).breakWhen(resumeCondition));
    	}
    Display More

    My problem is that this will only work for Single motions.
    I would like to be able to do this using Approximations motions or batch motions, however after the collision it always will return the beginning of the first motion in the block.

    Any ideas would be greatly appreciated! :help:

    cheers!!

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