Where in the robot KRC2 configurations of inverse kinematic formulas are present?
Posts by Alex_Moser564
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Hi All.
Powermill robot plug-in have postprocessor for KUKA robots that exports files all toolpathes and main program file in separate files. It's very uncomfortable because to many files need to create manually on the robot.What I need to change in postprocessor to collapse all toolpathes in one .src file?
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Thanks for your post.
Realy problem was not in that and also not in home and not in program.Realy program was in compiling the program to the memory of the robot.
After recompiling program it starts to execute.
Thanks for your attention to my problem a lot.
At last we have configured our robot to work. And problem was wo mere!!! -
I've created simple program for KUKA in 3-rd party Proto-G but my robot don't see coordinates of it.
It see only ptp home at start and at the end.
The files are attached.
The system is:
KR C V4.1.7 SP8
GUI vershion: V KR C1 V3.3/V4.1How to fix this?
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i recommend to read or take training... you are trying to modify programs while unfamiliar with basics.
for example it makes no sense to reassign tool three times using different methods, BCO is part of KSS and it has specific function, if you dont want it, use EXT mode. your syntax is wrong, etc.I completely agree with you. I tried to read KUKA datasheets but the are give me only vision of the robot. As for the program, it was used KUKA's postprocessor and it defines all functions. Where it should be changed to EXT?
For example, in files *.dat that I gave previous it's written "EXT BAS (BAS_COMMAND :IN,REAL :IN )".
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HelloOrangeApps you are right. If it is badly set the tool can show that the range is exceeded and will not move the program.I had the same pain for a long time in Powermill . I had to manually enter the angle A B and C . The basis is a good tool setting, and later the base.
Thank for your answers. I supposed nobody will answer me.
I setup the tool A0, B45, C180 (and also C0).
I also attach files that Power mill give me.Problem is not in reaching limit but KRC tell me "Programmed path reached(BCO)" in the initial lines where I define tool (In file t1_240_0814.src in the line
"; LOAD_TOOL(5)"). It don't want change file and also when I copy coordinates from other file it also don't want read them.Its' so many time was lost with this robot. Wery interesting is that that it workd in the past with power mill but now it doesn't.
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In the attechment my last tries to to start th KR240
It stopes in the file
File SimKr2.src>
Line: ; LOAD_TOOL(1)
BAS(#TOOL,1)If I change BAS(#TOOL,1) to BAS(#initmov,1). I jump this problem (It seems that something wrong in table configuration)
But stops on the first coordinates:
FileSimKr1.src ( FileSimKr2.src opens file FileSimKr1.src and run it)
with error:QuoteSoftware limit +A1 out of range
Line: PTP {X 100.000,Y 150.001,Z -20.000,A 5.0430,B 0.0000,C 0.0000,E1 0,E2 0,E3 0,E4 0,E5 0,E6 0,S'B010',T'B000010'} -
HelloWrite exactly what you have a problem with.Do you have all your work data entered correctly in the powermill?This is talking about the axis constraints that you have to drive in a powermill like the robot has.And a fixed tool in the powermill model.Give some pictures of how the robot looks with the tool
Thank you Martin for your time.
We currently have two robots kuka KR360 (that in the attachment) and KR240. We bought them from factory with their configurations. They work with manually entered points from machine.
KR240 we are going to use for milling soft materials and KR360 for cutting a rock.
To program this robots we use PowerMill. We have MTD models of this robots. In powermill simulation goes fine. But Kuka robot don't want to run Powermill file.Quote
It stops on line 42 ("; LOAD_TOOL (2)") and writes massege "Start continue not possbile"
This file was attached in my first message in the topic.Than I made one single file from that I've resived in Powermill (Sim360 - it's todays tries).
I've attached it also.
On the lineQuotePTP {X 99.999,Y 149.999,Z 230.000,A 3.7325,B 0.0000,C 0.0000,E1 0,E2 0,E3 0,E4 0,E5 0,E6 0,S'B010',T'B000010'}
Robot stops and writes error "Instruction inadmissible".My aim is to run even simple project from Powermill on our robots.
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When I touch to select any program even new I recieve "/R1/MSGLIB Syntax error module"This problem was solved.
HelloToday I was working on powermill programs.I send you a pattern of running program.I think you are using a bad postprocessor.If you want to use the program you are sending, the base must be set to zero.
This problem don't work also.
It seems that controller don't see the pass of postprocessor. I't goes till load instrument and go homeing position and stops. -
The problem was solved.
Mistake was caused by limitation of turning angle of the axis. When all axis was moved to initial coordinates. Robot starts load files as previous.
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When robot start moving to the home, it stops even with very small spead.
The error is BRAKE HOLDING TORQUE A41 EXCEEDED.
In the list of errors of Kuka I've read:
<< BRAKE HOLDING TORQUE %1 EXCEEDED
Cause
-- The brake holding torque on the axis is not sufficient to keep the robot
motion permanently stopped at a point.
Monitor
-- Not cyclic, during path planning
Effect
-- Interpreter stop
Remedy
-- Correct or reduce load data
-- Verify machine data>>The robot is KR240 (KR4.1.7 SP08). It's very powerful and it cant mode it axis well.
How to solve this problem? Where I can correct load data and verivy machine data?
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Hi all.
Today I try to run program on robot kuka but i have new error.
When I SELECT a program it writes me "/R1/MSGLIB Syntax error in module".
Could it be a bproblem with position of robot? Does anybody know what problem in?
RObot don't want to run any program even new created.KRC v4.1.7 SP08
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Try delete CONTINUE statement in System-->bas.src-->TOOL sub
In bas.src there a lot of "TOOL" mentions. I don't know where to change it.
HelloToday I was working on powermill programs.I send you a pattern of running program.I think you are using a bad postprocessor.If you want to use the program you are sending, the base must be set to zero.
I use similar postprocessor to yours except few numbers. I tried to to run your program but it becomes new problem.
When I touch to select any program even new I recieve "/R1/MSGLIB Syntax error module"
Wat it could be? It's new for me complitly. -
I have PowerMIll with robot plugin. But robot don't want to run my program. Maybe somebody else have such program to compare.
The default program of the robot is very different from that I recive from powermill.
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I've added TOOL 1 in the setup > measure >Entering tool numerically - it doesn't help/
Ive added lines
BASE_DATA[1]=
TOOL_DATA[1]=Code; LOAD_TOOL(1) BASE_DATA[1]={X 2000, Y 0, Z900, A 0, B 0, C 0} TOOL_DATA[1]={X 100, Y 0.5, Z70, A0, B-90, C 0} BAS(#TOOL,1) $TOOL = TOOL_DATA[1]
It doesn't help also.
It drites "Path reached"
"Continue not possible" -
Hi all.
We are trying to use our KUKA KR200 robot (With KRC v4.1.7 onboard) for milling porposes.We get from Powermill Robot plugin NC files that attached to the letter.
Thi files is not works what could be possible mistake in them.When I try to run Robot_Test_prog.src
It stops on line 42 ("; LOAD_TOOL (2)") and writes massege "Start continue not possbile"
What it should be? -
Hi all.
We have bought Robot KUKA with KRC v4.1.7 SP08.
It's currently working and moves in default program (Four lin moves). We are going to use this robot in milling purposes.
I've made simple milling program in PowerMill Robot plugin for it but it doesn't initialize it. The problem is in the head of this file because we don't have working post processor for it.Can anybody give his .src and .dat files for program to me. I will replace the head of that files with my coordinates and in such way will see how ours robot is working.