So you have procedures with the same name just different suffix at the end, take at look about Dynamic procedure call CallByVar in the manual "RAPID Instructions, Functions and Data types", it lets you use a name and a numeric value which you can use from your array to call a proc.
Posts by palmeida
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Also you have the option to perform the backup in .TAR on the teach pendant by select advance -> backup to archive in the backup menu. I would not call it an issue just another option.
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I have seen this in KRC4 KSS 8.3 and 8.5. First, you go to menu>start up> robot data and select save RDC data to make sure the file will be available. Then you can navigate to C:\KRC\ROBOTER\RDC\xxxx.cal where xxx is the serial number.
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Go and check the user rights I have seen a couple of robots out of the box that the option to teach globals points was deselected even for admin. Just a matter of log as admin and change the user rights.
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Ex
Proc WeldProgram();
StartStn1;
Program1;
Program2;
Program3;
Program4;
EndStn;
EndProc;
I want the program spilt into 2 steps so that it welds program1 and program2 in the first step.
Then the robot moves to the other station and welds. After it finishes it comes back and welds Program3 and program4 in the 2 step.
Thanks in advance.
It seems like you exactly what you want to accomplish, look at the logic that calls the WeldProgram(), at the main() level or PLC, and you can decide the way it better suits you.
For example:
You split into WeldProgramStage1() and WeldProgramStage2() and a PLC calls the program.
First the PLC calls WeldProgramStage1(), records that the first stage of the weld is done.
Then PLC calls the program for the other station while the operator do the manual weld.
Then PLC knowing that stage1 is done, manual weld is done now it calls WeldProgramStage2().
Something like that.
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And in case of non-safety, you can look into Workspace monitoring. In KSS 8.5.6 you find this on menu>configuration>miscellaneous.
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Fubini Thanks for clarifying that !
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I don't know if this is correlated to your issue but I noticed on KSS 8.5.6 slow movements when running the PTP and LIN in T1, especially when it changes from LIN to PTP, and then when changing the same points to SLIN and SPTP they behave as I would expect in T1. In auto no difference at all. I did not dig deeper on that to tell you more information but the difference in the speed was huge.
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Does it need to be safety input? Couldn't you use World Zones for that, they are the same as workspace monitoring (non-safety) in KUKA. Them you set a signal when the robot is inside that zone, just make it small like 1 or 2 degrees in each axis
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Look up CJointT() function in the manual, and also about semi-static and static TASKS, probably what you are looking for.
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Just read the value of R[1]. It will start in 100 and decrease by 1 in every cycle, if you use something like R[2] = 100 - R[1] it will show you how many cycles has it done and the value of R[1] itself tells you how many remains to do
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Looks like you add the KRC4 gsdml and is trying to use it as a slave in the own robot. Delete this and setup the IP straight in the robot pendant under Start-up > Network configuration