We will be constructing a gripper for a robot.
The gripper will have the ability to extend itself in length and width direction.
For this extending we will need linear actuators. Because we need fast and precise positioning we would need analog speed setpoint to the actuator, fieldbus setpoint speed setpoint, or the actuator may also be selfpositioning (a position setpoint is given to the actuator).
Does anyone has experience with such type of lineair actuators? Then please give us some tips on brands and types.
Posts by SimotionD410
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I should want to use a card for SSI-position signals of Siemens on my KRC4. This is a new ET200SP card.
Where can I find if it is effectively possible to use this card on KRC4? -
I remember that I have done something with configmon on KRC2 in the past.
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On the KCP of a KRC4 you can see single variables, in the respective menu.
However the historical list of variables that was watched from this screen is rather small.
So if you want to watch many variables the change is big that you have to retype a variable rather then selecting it from the dropdown box of historical watched variables.
Is there somewhere a parameter too make that list longer?
I don't know the KSS exactly, but the robot was newly bought last year. -
I was concerned about the orientation of the tool during the circular movement
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Is it possible to do a circular movement with a KRC 4 robot, like in the attached picture.
The TCP of the robot (center axis 6) should follow the red circle. The attached tool should always stay in the same position.
With that tool position I mean, like you would attach an object to a rope, where the attachment of the rope is above the center of gravity of the object.
And you take up the rope and make movements with it. Or you could say that the tool axis is never rotated in any direction in relation to the world frame, only translations are done.
Is this possible, and if so, how? -
It concerns KRC4 KSS8.2
To define the load, you also have to give in the inertia.
Is this inertia referenced towards the position of tool 0 (middle of flange axis 6) or towards the center of gravity of the load? -
In my case the load of the product will be at least as high as the load of the gripper itself.
If I know the center of gravity of the gripper and that of the product, and the same for the intertias.
Can they be easily added together, or is this more complicated? -
We have from a new ordered robot, the robot electrical cabinet delivered at one adres, and the manipulator at another site.
Now I should want to start configuring and testing the IO of the gripper (on ET200SP as profinet device) connected to the cabinet.
However the manipulator will not be there physically.
For the logic of the gripper, a program will run in the submit interpreter.
Will this be possible : configuring profinet confirution and let the submit interpreter run to test the logic of the gripper, while the robot itself is not connected to the cabinet, (the KCP is connected to the cabinet)?
Or do I have to wait until the manipulator is also connected? -
What do you mean exactly by a 'valid safety configuration'?
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I will have to do some things on a new robot, and the safety signals (electrical signals) will not be available yet.
In het past we used a connector where the safety signals where looped through in such a way that they were bypassed.
I wondered if we really need such a connector on a KRC 4? Is there a possibility to bypass the safety from the KCP?
And what will be the consequences then in that mode? -
I have a project in Workvisual that I tested on Office Lite. I started with a blank project (never did an upload from the real robot).
The robotype in Office Lite and Workvisual is however the same as the one I will commission onsite.
I also prepared complet Profinet configuration (robot <-> plc communication (robot = device) and robot <-> remote IO (ET200S Siemens) communication) with the specific IO-mapping of signals I need.
When I come for the first time to the real robot, I don't want to lose my preparation, but I also rather restart from an upload of the real robot, where I then import the code files, and also the Profinet configuration.
The problem I face is that when I do the export when 'PROFINET' in the hardware structure is selected, I do not have the ET200S device in my export. If I select the ET200S remote device in the hardware structure and from there do an export, I do not have the main settings for Profinet.
If I export - import the I/O connections, and then import after import of the Profinet configuration I get errors that some hardware does not exist.
So, in my situation, I have profinet controller/device, with communication to plc and to ET200S, specific IO mapping is done for both.
I want to export this and import it into an upload of a complete new robot. How do I succeed? -
I have a workvisual project (v4.0) where a Profinet configuration is done.
There is robot <-> plc communication (robot = device) and robot <-> remote IO (ET200S Siemens) communication.
IO-mapping is done.
Now I want to export this Profinet configuration and import it in another project.
Problem is that if I select 'PROFINET' in the hardware structure I do not have the ET200S device in my export.
If I select the ET200S in the hardware structure, I don't have the general Profinet configuration.
So how should I export this : a Profinet configuration that also has ET200S devices? -
I want to protect my robot and gripper when it goes down to the pick position, in case there might be an obstacle before the end position is reached. Is there a way to detect an unusual raise of current or torque of the robot (when hitting the obstacle).
Or what is the best way to implement 'collision detection'?
System is KRC4 KSS8.3. Robot KR240 R3330 -
I have a project with KRC4 robot KSS8.3.18.
I have done the simulation complete with Office Lite.
In Office Lite the same robot type and version is used as in the onsite situation.
Also the configuration of my Profinet communication is already done in Workvisual.
Now I have to do commissioning onsite.
I start from a new robot, with only the calibration done.
Because the simulation robot is already configured for the IO in real world, the files machine.dat, custom.dat and config.dat, etc.
are different from 'default settings'. I don't want to loose the already made configurations.
Can I just download my complete workvisual project I used for simulation to the real robot?
What about machine settings that are already present in the real robot after calibration?
What is the best and easiest way to begin commissioning the real robot in this case (already having a simulation project)? -
What is the best way to measure the actual cycle time of the submit interpreter?
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It concerns KR4 KSS 8.3, as 6-axis robot.
I move from one position to another by using four intermediary points.
All moves are PTP C_DIS with teached points in line forms.
My tool has following configuration : X 0, Y 0, Z 295, A 0, B 0, C 0.
Everything works ok, but now I tested the same motion with tool configuration X 0, Y 0, Z 295, A 180, B 0, C 0.
The intention was that the tool orientation would be 180° rotated over the whole range.
But the rotation of axis 6 is not what I expected for the second tool configuration.
Here I have a list of the orientation of axis 6 for the first tool configuration :
-167.22° | -14.9° | -17.69° | 22.85° | 22.85° | 19.64°
For the second tool configuration :
-12.78° | -194.90° | -194.69° | 202.85° | 202.85° | 199.64°
I have the impression that the turn configuration in the teached point is decisive.
What I should want is that a teach a row of points, and when changing the A-factor in the tool by 180° that my tool is in each point rotated at 180° and stays in the same sense, now I have rotations I don't want.
Is there a way to teach points in inline forms, that the turns factor is not evaluated? -
Our robot will pick different materials of which the loads are not a fixed range, but can be any value between a minimum and maximum.
Before we pick it we will receive the exact wheight from a Siemens plc. Of course our gripper also has a (known) weight.
What is the right procedure to tell the robot the weight it is carrying?
At moment the robot grips the material writing this variable : $LOAD={M Mass, CM Center of gravity, J Inertia}?
Do I have to put in the $LOAD variable only the load of the material, and is the load of the gripper itself in the tooldata that I configured when commissioning the tool?
Or is the $LOAD variable for the complete weight of tool and grippedmaterial? -
It concerns KRC 4 KSS 8.3
Standard the software limit for axis 6 is +- 350°.
I cannot put these limits higher.
Is there somewhere in the configuration files another parameter that I can change so that I can raise the limits in the KCP? -
I suppose it is not installed. We did not change anything concerning on the received office Lite.
The real (new) robot will have the Profinet controller - device option installed.
So I wanted to prepare the IO-mapping on Profinet already on the Office Lite.
I suppose I neeed to install the Profinet option on the Office Lite, but I don't know how.
Additional question towards the Office Lite.
I have selected in the Office Lite the robot Type the same as the real robot will be.
Can I use the WorkVisual project I use now for programming the Office Lite, and download it in the
new real robot, or will this give problems?