Posts by MECCANO

Quote from hoaingoc76041

Hello Everybody!

i use sprutcam with fanuc robot, i export the program but when i run error call program from UD1.

Can anyone help me?

Call LPE ( 'UD1','chai','TP',1,3)

I have the same issue here , have you reached a solution?

Quote from Skooter

J3 is very simple, only the motor and RV. Maybe the motor has worn bearings. Press your ear (or other listening device) to the motor and listen for a clunk sound inside the motor.

Hello skooter ,

I did what you said exactly

If you check the videos , i am moving j3 only, and the clunk sound "and movement" happens in j2

I feel it is a software bug in the motion firmware for example,

If i move j2 to another angle,it happens in the same j2 and j3 interaction,

I have 2 identical units and it happens in both of them at the same angle

i am working on Fanuc R-200iB-210f with R30ia

i have an external axis , that i was able to configure perfectly as G1 A7 ,

but i need to set it up as G2 A1 , as i am using a software that is able to use 6 axis only in the programs created.

any support for that ?

Quote from Skooter

Guide pins - buy (4) M12x90 bolts and cut the heads off. Chamfer the edge of the cut end and cut a slot in it to fit a flat screw driver. The slot for the screwdriver helps with loosening. You need 2 but make 4 so you have spares as rookies sometimes bend them.

Regarding the "bump" - you seem to have narrowed it down to J2. Inspect the balancer rear pivots for wear and the watch the front where the rod couples to the lower arm when this bump happens. It's unlikely to be a balancer issue but worth ruling out before undertaking an RV.

You can also remove the J2 grease outlet bolt and insert a wire tie in as far as it will go, pull it out and wipe the grease on a clean paper towel. If the grease is dark and has tiny metal flakes, it is the RV.

Regarding location of the "bump" - if there is play in a worn RV, the bump location could be where the balance shifts the play from + direction to - direction.

Agree with pdl, a lot more problems would be resolved a lot faster if all posts were as organized and detailed.

I have the same issue here about the bump ,

it is diffenetly not the gear reducer of J2 , as we noticed the following :

1-it happens with the movement of J3 only and the load is not switching direction ,

2- it happens in a fixed J2/J3 interaction value regardless of J2 position ,

3-i have 2 identical robots R-2000IB-210F , and both behaves exactly similar.

I don't know about $PRO_I_O where should i check it? And what to set it to?

Below re the screen shots , just after starting the robot and when running a program in T1

Now after some checking and errors solving , when i select custom.dat from expert menu everything lods perfectly

But it doesn't load in the stat of the robot , how can i add it to the starting of the robot , or where should the file be saved?

Quote from SkyeFire

On the pendant, is the "S" icon in the bottom status grey, green, yellow, or red?

Does PLC.SRC control SPS.SUB, or does SPS.SUB call PLC.SRC?

PLC.SRC is not a standard KUKA background program. I have to assume it was created by a previous owner.

By default, KRCs use SPS.SUB as their background program, and start it automatically on boot. This is controlled by the following lines in CUSTOM.DAT:

Code

CHAR $PRO_I_O[64] ;EXTERNES PROGRAMM FUER STEUERUNGSKNOTEN
$PRO_I_O[]="/r1/sps()"

Re-installing Windows and KSS may have reset CUSTOM.DAT to this default, but restoring your Archive backup should have also restored this setting. I would check this value both in the robot, and in the CUSTOM.DAT of your backup.

Thank you very much, I am not familiar with kuka , and your clear reply makes life much better

, i follow the steps and let you know .

i am away from the robot now but i see in the old backup i have that the CUSTOM.DAT indeed contains these lines, i belive that the SPS.SUB calls PLC.SRC

I have the following line in the sps.sub

;FOLD USER SPS;%{E}%V2.2.2,%MKUKATPUSER,%CSPS,%VSPS,%P
;Make your modifikations here
PLC ( )
;ENDFOLD

I think it is calling PLC.src?

Kr45/2 with KRC1

I have restarted a robot after harddisk failure, installed windows and KSS, and copied the files from an old HDD copy,

Now the robot is working

but when I run the original programs, there is a program called PLC.SRC that is controlling background logic and sps.sub, but they are not active, how can I get them to work?

Thanks in Advance

Good news , solved

Found an old copy "not an image" of the windows drive

I copied the old windows and old KSS to the hard disk then installed windows on it then installed the kSS

Worked immediately

Thank you all for your support

Quote from SkyeFire

If it's a hard drive clone image from before the failure, you don't need to do Windows setup or KSS install. In fact, you should not do them. Simply restore the image onto the new hard drive, then boot off the hard drive.

Unfortunately it is not an image it is just a copy and doesn't contain the windows folder

It is an old copy before the failure ,

Windows setup and krc setup both go smoothly ,

When i start the robot It stops responding on the loading screen , robot with black background

Quote from Fubini

What Windows Image did you use? Does it fit to your KRC version inside KRC1_CD?

Fubini

I have the win95 source inside the folder "English "

How should i know if it fits ?

I have a Krc1 system in which the HDD failed

I managed to have a replacement HDD and made two partitions of about 1.7 GB each Fat16

I had a copy of the contents of the robot on which I found the windows setup folder and KRC1_CD , KRCPatch, patch, Upgrade V_2_1_5_G_KUKA and KRCsetup.ini

I installed windows successfully

tried to install KRC1_cd but the kss starts but stops responding at the loading page

what is the correct sequence to do that ?

Quote from panic mode

could be bad batteries. bad connection etc.

worn out batteries have high internal resistance. this means it is possible that they show reasonably good voltage without load but cannot sustain significant load current.

multimeters have high internal resistance (much higher than internal resistance of the bad battery). so in a naive way to check battery simply by measuring voltage, internal battery resistance is not a factor and result can be deceptive.

measuring battery voltage is done under load. for example connect something that draws couple of amps (car light bulb for example). if battery is good, light bulb ill show it and while the light is on, battery voltage should be measured.

if the batteries are indeed ok, check rest of the system (connections, fuses, battery controller).

Thank you very much , it was indeed the batteries ,

i tried to power the pc directly from the batteries when voltage dropped to 12 volts , trying to detect the voltage drop on shutdown is almost impossible.

But what controls the shut down of the robot , which part keeps the pc running until it saves the data ?

Thank you very much

Will check it again with a new set off battery anyway and let you know

Good day to you all

I have an issue with kuka KRc1 controller

The controller shuts down when i switch off immediately without the normal shutdown procedure

So it loses mastering .

Batteries voltage is good even when shutting downwhat could be the problem ?

panic mode thank you for your reply

i have it set correctly in the auto external I/O but still not getting the signal ,

it is mapped to output 1 and electrically it is working.

I am using the cell.src but i have a problem with the pgno_req ,everything goes fine afterwords if i gave yhe signal manually to the plc .."krc1"

Thanks on advance