Posts by MHammer

There is plenty of motions before and after this line of code, but there is a hitch.

But I have a WAIT FOR prior to reading the variables. So I need to trigger it without a motion as the trigger.

We are primarily a company that deals with ABB robots.

My colleague who started this project has created his own motion commands that closely resemble ABB's.

For example:

MoveJ(XP1:{0 x,0 y, 100 z, 0 a, 0 b, 0 c},Vel,Acc,Apo,TOOL_DATA[x],BASE_DATA[x])

Which helps us offset motions without altering the specific point.

I have implemented TRIGGER in several places, but in the case of using our own motion command, it doesn't seem to be able to detect and set the output correctly.

Thanks for your replies.

Thanks for the reply.

What would be the best way to get all the variables without typing CONTINUE infront of each line?

A subroutine call with a CONTINUE infront?

DEF Main ()
    ...
    CONTINUE
    ReadVariables()
    ...
END

DEF ReadVariables ()
      PickFromMagNoTemp = GIPickFromMagasinNo
      NextPickFromMagNoTemp = GINextPickFromMagasinNo
      FlgInnerDiameterTemp = GIFlangeInnerDiameter
      FlgOuterDiameterTemp = GIFlangeOuterDiameter
      FlgCollarHeightTemp = GIFlangeCollarHeight
      FlgOutGaskOffHeightTemp = GIFlangeOutGaskOffHeight
      PlisseDiameterTemp = GIPlisseOutTopDiameter
      FlgGlueHeightTemp = GIFlangeGlueHeight
      GrindFlangeTemp = DIGrindFlange
      FlgGlueInDiameterTemp = GIFlangeGlueInDiameter
      FlgGlueOutDiameterTemp = GIFlangeGlueOutDiameter
      FlangeIsSquareTemp = DISqrFlng
      StackBrickHeightTemp = GIStackBrickHeight
      StackRingDiameterTemp = GIStackRingDiameter
END

Hello.

I have a question regarding the Advance Run Stop in my Main.src and reading/storing values from a GroupInput.

Does this produce an Advacne Run Stop that halts my movements momentarily?

Acording to the manual it should only stop should be if the robot changes an output and then halts the cursor.

Is this also true for when reading Inputs? And should I Copy+Paste a CONTINUE infront of every single line?

Thanks.

      PickFromMagNoTemp = GIPickFromMagasinNo
      NextPickFromMagNoTemp = GINextPickFromMagasinNo
      FlgInnerDiameterTemp = GIFlangeInnerDiameter
      FlgOuterDiameterTemp = GIFlangeOuterDiameter
      FlgCollarHeightTemp = GIFlangeCollarHeight
      FlgOutGaskOffHeightTemp = GIFlangeOutGaskOffHeight
      PlisseDiameterTemp = GIPlisseOutTopDiameter
      FlgGlueHeightTemp = GIFlangeGlueHeight
      GrindFlangeTemp = DIGrindFlange
      FlgGlueInDiameterTemp = GIFlangeGlueInDiameter
      FlgGlueOutDiameterTemp = GIFlangeGlueOutDiameter
      FlangeIsSquareTemp = DISqrFlng
      StackBrickHeightTemp = GIStackBrickHeight
      StackRingDiameterTemp = GIStackRingDiameter

I think I got the problem solved, by restoring the KrcExtConfMsg.xml file to it's default values. I had two lines of codes in it to ignore som error codes, which haven't caused any issue prior to the restart.

KrcExtConfMsg.xml

<?xml version="1.0" encoding="UTF-8"?>
<KrcExtConfMsg xsi:noNamespaceSchemaLocation="/Roboter/Config/System/Common/Schemes/KrcExtConfMsg.xsd" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
  <Version Label="">
    <Info Version="KUKA V8.3"/>
    <Schema Version="1"/>
  </Version>
  <!-- ============================================================= -->
  <!-- This file allows to change the configured default             -->
  <!-- behaviour for external confirmation for specified             -->
  <!-- messages                                                      -->
  <!-- ============================================================= -->
  <!-- Example:                                                      -->
  <!--            <Message Number="xyz" AllowConfInExt="true" />     -->
  <!--                 ==> allow confirmation in EXT                 -->
  <!--            <Message Number="xyz" AllowConfInExt="false" />    -->
  <!--                 ==> disable confirmation in EXT               -->
  <!-- ============================================================= -->
  <!--  !!! only confirmation messages are allowed to configure !!!  -->
  <!-- ============================================================= -->
  <Message Number="2858" AllowConfInExt="true" />
  <Message Number="15003" AllowConfInExt="true" />
  <Message Number="1210" AllowConfInExt="true" />
  <Message Number="1008" AllowConfInExt="true" />

</KrcExtConfMsg>

KSS: 8.6.7

ROBOT: KR10 R1420

Hi

I've suddenly gotten this issue with a robot.

Error while reading KrcExtConfMsg.xml which leads to when I click it, Too many slots used,...in KRC_IO.xml.

Prior to this issue I have restarted the robot with Reload files ticked and then the problem showed itself. So the file has been altered at some point before the restart.

But I can not figure out what to change in the .xml file.

The controller does not have ProfiNET or any other fieldbus other than the EtherCAT Beckhoff modules for IO.

The robotic cell has two of these robots with the same configuration and the other robot does not have the same issue.

KRC_IO.xml

<?xml version="1.0" encoding="utf-8"?>
<!--XML file automatically generated by WorkVisual V6.0.20_Build1008.-->
<!--DO NOT EDIT-->
<Application kukaVersion="1.0.1" xsi:noNamespaceSchemaLocation="/Roboter/Config/System/Common/Schemes/KRC_IO.xsd" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
  <Version Label="">
    <Info Version="" />
    <Schema Version="100" />
  </Version>
  <ProcessData>
    <Segment drvName="ECatIODriver" busInstanceName="SYS-X44" byteOffset="575" byteSize="1" segmentID="0" />
    <Segment drvName="ECatIODriver" busInstanceName="SYS-X44" byteOffset="578" byteSize="96" segmentID="1" />
    <Segment drvName="ECatIODriver" busInstanceName="SYS-X44" byteOffset="1090" byteSize="13" segmentID="2" />
    <Segment drvName="ECatIODriver" busInstanceName="SYS-X44" byteOffset="1572" byteSize="17" segmentID="3" />
    <Segment drvName="ECatIODriver" busInstanceName="SYS-X44" byteOffset="2085" byteSize="23" segmentID="4" />
  </ProcessData>
  <Mapping>
    <Output>
      <Digital>
        <Out krcStartIndex="512" segmentID="3">
          <Start segmentByteOffset="0" segmentBitOffset="0" />
          <End segmentByteOffset="0" segmentBitOffset="3" />
        </Out>
        <Out krcStartIndex="1056" segmentID="3">
          <Start segmentByteOffset="1" segmentBitOffset="0" />
          <End segmentByteOffset="16" segmentBitOffset="7" />
        </Out>
        <Out krcStartIndex="2080" segmentID="4">
          <Start segmentByteOffset="0" segmentBitOffset="0" />
          <End segmentByteOffset="2" segmentBitOffset="7" />
        </Out>
        <Out krcStartIndex="2104" segmentID="4">
          <Start segmentByteOffset="7" segmentBitOffset="0" />
          <End segmentByteOffset="10" segmentBitOffset="7" />
        </Out>
        <Out krcStartIndex="2136" segmentID="4">
          <Start segmentByteOffset="3" segmentBitOffset="0" />
          <End segmentByteOffset="6" segmentBitOffset="7" />
        </Out>
        <Out krcStartIndex="2168" segmentID="4">
          <Start segmentByteOffset="15" segmentBitOffset="0" />
          <End segmentByteOffset="16" segmentBitOffset="7" />
        </Out>
        <Out krcStartIndex="2184" segmentID="4">
          <Start segmentByteOffset="11" segmentBitOffset="0" />
          <End segmentByteOffset="14" segmentBitOffset="7" />
        </Out>
        <Out krcStartIndex="2216" segmentID="4">
          <Start segmentByteOffset="21" segmentBitOffset="0" />
          <End segmentByteOffset="22" segmentBitOffset="7" />
        </Out>
        <Out krcStartIndex="2232" segmentID="4">
          <Start segmentByteOffset="17" segmentBitOffset="0" />
          <End segmentByteOffset="20" segmentBitOffset="7" />
        </Out>
      </Digital>
      <Analog />
    </Output>
    <Input>
      <Digital>
        <In krcStartIndex="512" segmentID="0">
          <Start segmentByteOffset="0" segmentBitOffset="0" />
          <End segmentByteOffset="0" segmentBitOffset="7" />
        </In>
        <In krcStartIndex="1056" segmentID="1">
          <Start segmentByteOffset="0" segmentBitOffset="0" />
          <End segmentByteOffset="95" segmentBitOffset="7" />
        </In>
        <In krcStartIndex="2080" segmentID="2">
          <Start segmentByteOffset="0" segmentBitOffset="0" />
          <End segmentByteOffset="6" segmentBitOffset="7" />
        </In>
        <In krcStartIndex="2136" segmentID="2">
          <Start segmentByteOffset="11" segmentBitOffset="0" />
          <End segmentByteOffset="12" segmentBitOffset="7" />
        </In>
        <In krcStartIndex="2152" segmentID="2">
          <Start segmentByteOffset="7" segmentBitOffset="0" />
          <End segmentByteOffset="10" segmentBitOffset="7" />
        </In>
      </Digital>
      <Analog />
    </Input>
    <IOLinking />
  </Mapping>
  <Options>
    <DataIntegrity value="true" />
    <NrOfInOut value="4096" />
    <Stream />
  </Options>
</Application>

Quote from MAsadRehman

Same question? do you know how to solve it. I remember there is a xml file but the name i dont remember.

It is answered in #2, but I'll make it easy for you

- Find C:\KRC\SmartHMI\Config\Authentication.config

- Set <LeaseTime>0</LeaseTime> (Within the yellow box)

- Restart controller

I've got success with just altering the top most value.

Thanks. I've been looking for that option.

This may be a basic function and everybody knows how to do it, but not me.

How do I alter the description for IO Mapping?

I've been looking through most but apparently not all menu's and can't seem to find a way to make my own inputs for IO Descriptions.

Thanks in advance

//Hammer

Quote from SBDP_4.0

StartKRC.exe and SmartHMI.exe are two different things.

Ok, I'll stick to SmartHMI next time.

Quote from SkyeFire

KRC model? KSS version?

The SmartPad isn't crashing, the actual KUKA HMI in the robot controller is. To confirm this, plug a DVI monitor directly into the motherboard of the KRC.

The SmartPad is just running WinCE (or Windows Mobile, or whatever Microsoft changed the name to) in order to run a Remote Desktop session as a "thin client" to the main computer inside the KRC cabinet.

If the KUKA HMI is crashing, this suggests something quite wrong with that robot. I recommend taking a KRCDiag and sending the results to KUKA Tech Support.

Display More

KRC4
KSS 8.6 & KSS 8.7 (I have had two system do this)

I will make a KRCDiag when possible and send it to KUKA support.

Quote from SBDP_4.0

I have that issue regularly since KSS 8.5. I contacted Kuka about it and they are aware of the bug but apparently still not resolved.

You can restart the SmartHMI from running SmartHMI.exe located in C:\KRC\SmartHMI.

Thanks. I'll try that next time, if it happens again.

But I did manage to find StartKRC.exe that did the same thing 10 min. after I created this thread.

I'm unsure which one of the two is the correct way to do it.

Quote from panic mode

KPC is a type of industrial PC running its own version of windows. this PC is located inside the KRC. And KPCs is where the HMI application (called smartHMI) resides and runs. This is why you can see HMI using external monitor for example. You can see and use the application even without smartPad connected because smartPad is peripheral node. if the smartHMI is minimized or not running, you can see the desktop of the KPC. You can also use own PC to RDP into KCP and see the same thing. But thanks to some other hardware in smartPad (safety node), smartPad is able to change mode and enable drives if using teach mode - that is something you cannot do using jusr external monitor and mouse or using own computer that connects to KPC via RDP.

smartPad is a separate product, it is a handheld computer attached to KRC via cable. It is running its own version of Windows and own application. that application is not the smartHMI you see on KPC. it has own menu and own functionality (change mode, calibrate touchscreen, calibrate 6D mouse...). Once smartPad connects to controller, it displays image (a remote desktop) of whatever is running on the KPC. unplugging and reconnecting smartPad restarts the smartPad hardware and the smartPad application. but this has no effect on smartHMI that runs on KPC. if the KPC boots but smartHMI is not running, only the local desktop is displayed (KPC desktop). And that is all that smartPad can display when it makes connection to KRC. smartPad does not "read the tags and displays own screen", it actually display copy of the screen as it is shown on the KPC.

Please keep in mind that developers at KUKA do not get the feedback about issues straight from you. There is a layered structure so information they get can be ... 'lost in translation'. Other layers will try to solve the problem with the client, if that does not work, they will pass it on to another level and so on. But title of this very topic is misleading. From what i can tell, it is not the necessarily the smartPad that crashed, in fact chances are that this has nothing to do with the smartPad. Using correct way to describe situation can have dramatic effect on what those trying to help you understand. And if they don't, message that reaches developer could lose meaning or be misinterpreted. In that happens it is likely that solution or bugfix ma not be available for some time...

That is correct.. although depending on real reason that may not work every time. Which is why one should do as SkyeFire suggested - use external monitor, get fresh KRCdiag and send it to KUKA.

Display More

Thanks for the description.

As for your last paragraph regarding feedback, I'll try to update this topic, and when I contact KUKA I will have a better understanding of the terms.

It was difficult for me to describe my issue

//Hammer

Hi.

No I did not manage to solve the issue. And I've had alot of other projects in the meantime so I can't quiet remember what workaround I got working.

I think for the simulation, I had some timers that I tweaked to match the simulation.

//Hammer

UPDATE:

As pointed out by SBDP_4.0 you could use C:\KRC\SmartHMI\SmartHMI.exe to restart the software.

------------------------------------------------

I've got a strange problem on two of the eight robots I have at a clients warehouse.

The SmartPAD would suddenly close or crash the SmartHMI and just leave me with the bare Windows 10 desktop.

Q: Is it possible to boot the SmartHMI again, from the Windows desktop, without restarting the controller?

A: Yes, see update above this.

I've tried unplugging the SmartPAD by pressing the top button and pulling out the cable leaving it for 2 min., but it just boots up with the same screen as attached.

KRC4

KSS 8.6 & 8.7 (Two different robots, running almost same setup.)

A ref_test call is triggered when a reboot of the controller has been performed or when a mayor change to the safety system.

I do not have a link to the specific documentation, but I've read it somewhere.

//Hammer

INFO:

RobotStudio 2022.1 (64-bit)

Version 22.1.9826.0

Release Notes

You have the latest version.

Supports RobotWare 5.06 to 6.13 and 7.0 to 7.6, including revisions.

Virtual controller & robot

IRB5710 - OmniCore V250XT

PROBLEM:

I'm making a simulation and I need to make a DO to have the simulation do what I want.

But each time I try to create one, in Controller > Configuration > I/O System, I get this error.

I can't seem to find the correct information about the long error code "-1073414146" and the things I've found does not make sense in my head.

Is this because of the new Omnicore controller has a different "How-To" create signals?

Thanks

Quote from SkyeFire

Do you have the actual KRC4? Simplest way to get a screenshot would be to download the ScreenShot package from https://orangeapps.de/?lng=en&page=downloads

#2 No I do not have the KRC4 on hand. It's at the customers, that hasn't installed internet in the building yet and he is located 3 hours away. But the screenshot option is already installed on the robots.

But I need to be on site to do so.

Quote from panic mode

you mean this? don't have a full screen

When more than one robot is present (roboteam) then several of above panels may be present, one for each robot. KRF mode is found on older KSS before being discontinued but SunriseOS still has it.

So normally it looks like this on smartPad controlling single robot

and this is how it looks like on roboteam

Display More

#3 Yes, thank you. That's what I was looking for. Even though that the cell has 8 robots, they each have their own controller so the second picture is sufficient.

Thanks

//Hammer

Hi.

Is someone able to help me?

I'm in need of a screenshot from the smartPAD of the operating mode screen, when the mode key is turned. It's for a manual.

I do not have a physical controller on hand, and the OfficeLite does not have the screen but only a dropdown menu.

Basically what I need is a screenshot of the whole image shown on the screen when the key is turned clockwise. If possible one image with each mode active (T1, T2, Aut and Ext), would be much appreciated

I'm deeply thankful to the person who would help me

//Hammer

I'm still emailing back and forth with KUKA. I've tried all V6 revisions.

.13, .16, .18, .20 with the same result. KUKA says that the can't replicate my issue.
While this has been an issue I've been working offline, not on site.

As of today I'm back at the site and I already had the software close without warning. I'm online and I am able to see all controllers (8 robots).

One thing I have not tried is a new project file. But my superior is not paying me to test the software, so I'll have to deal with the issue until a new project comes up.

Thanks for the responses.

//Hammer

#2 Already done that Waiting for their reply.

I actually thought I had the newest (newest is not always better). Downloading it now to see if it helps, or else I'll have to revert to an older version.

#3 Can't remember exactly, but I try using .exe installers when installing new software.

Has anyone else a problem with WorkVisual (V6.0.18_Build0748, Buildtime 16 july 2021 09:42) that when left unattended it closes and your non-saved work is gone?

Besides all the times it crashes when you try to deploy, edit, save, load, modify, click, change, download, type........

I know that different factors are at play here, like my PC, RAM, storage....but for a piece of software that is at V6, should not be this unstable!

Thanks in $ADVANCE=1

//Hammer

#4 Thanks SkyeFire.

That's the info I was looking for.