Hi,
Sorry for the delayed response to the post but after a few discussions with KUKA, they have confirmed that the XF5 is supported by default for ethernet based protocols.
XF6 can only be activated when the user purchases a KOP Kuka.Ethernet Switch Dual Port 1.0 and only then the XF6 becomes active.
Yes you pay for the option to 'unlock' the use of XF6 port.
Hope this was helpful.
Hi all,
Could someone shed some light on the RC700A and RC700DU slave unit with the below questions I have please?
1. When I set HOME from remote I/O (fieldbus slave) the scars robot connected to 700A hoes first and then scara robot connected to 700DU goes after the robot 1 is home. But I only get the AtHome signal when both the robots are at home position. How did you manage to get individual AtHome outputs from robots or is it not possible?
2. I am running the template with main and robot1.pts and robot2.pts but only robot 1 (RC700A) runs while the other robot 2 (RC700DU) just sits.
I have tried SelRobot signals but nothing worked. There's only one InitRobot routine so will I have to do a new routine for the robot 2 (RC700DU) ?
3. I'm just trying to run both robot program in parallel for basic palletising so if someone could shed some light on syntax on how to get both robots to run on start issued by the fieldbus slave mapped as remote io that would be greatly appreciated.
Thanks in advance.
Hi all,
I have a bit of a strange issue so was hoping if someone could shed some light to fix the issue I have with a KP3-H2H external axis Positioner.
The positioner has 3 H2H axis with a self-aligning and length compensating counterbalance with a compensating factor of +/-5mm and +/-0.5° mechanically.
We have designed our fixtures to suit the application that can only tolerate +/-2mm now recently we have a very strong shift in the mechanical movement of the shaft and can confirm the shaft floats anywhere between 4-6mm and stuffs us to reteach every point by an offset on Y (world coordinates). So my question is how do we lock the shaft in place without length compensation? Why are positioned made with such high tolerances?
Any help appreciated.
Posting the manuals that KUKA gives away with the robots is allowed. Posting the training manuals from KUKA College training courses is not allowed.
The information on wiring X11 is not considered proprietary, and as such presents no problems being posted.
Many of the KUKA manuals are available in the "Manuals, Software, and Tools" sub-forum of this forum.
Hi SkyeFire,
Thanks for the clarification.
Here's the KRC5 manual.
Cheers
Hey, i was hoping to ask how to configure safety interface of KRC5 Micro Controller.
XG 11.1 AND XG 58
For the KRC5mirco,
You must jumper the plugs with the jumper links provided if you are not planning to use the additional external emergency stop and additional external operator safety.
This cannot be bypassed by software! You must jumper the terminals if you don't plan to use them.
Please find the images for the plug wiring.
I am not sure if I'm allowed to post a manual here as I respect KUKA copyrights and don't want to see myself kicked out of the forum.
Cheers.
Trimming what? Plastic? Fiberglass? Iron? Titanium? How much, how thick, how deep, how fast?
Without a lot more detail, there's no way anyone can answer this question with even minimal precision.
Polyethylene and 3mm thickness.
Accuracy +/- (2-3mm)
Ultrasonic trimming at 40khz
Hope this helps
Hi all,
I was hoping to know what EOAT is the best in the market for trimming application? I'm hoping some ultrasonic cutter with vacuum extractor for clean jobs? Yaskawa motomans have a very nice trimming specific application range.
But was hoping to see if I can mount a tool on an existing KUKA robot.
Any budget estimates?
Thanks
Hello everybody.
As I understand it, XF6 is a Master, XF5 is a Slave.
I could not find a KRC5 controller on the Profinet bus in the TIA Portal via XF5.
What settings should the KRC5 have to connect to the Profinet bus via TIA Portal?
Thanks.
Hi pfuser,
What do you mean ?
Did you manually assign a static IP address for the KRC5 controller?
You will have to assign a static IP address first on the KRC5 and make sure the IO Device is activated if you're planning to use a Siemens PLC as PN Master and KRC5 as PN slave IO device.
Connect the PLC to the KRC5 on KLI2 and then assign a PN name from accessible devices from the TIA portal.
Hope it helps
what...?
Hi panic mode,
I'm not too sure what to say.
The new KRC5 micro has 8 rj45 ports which are dedicated to a specific task.
Ports are assigned to daisy chain other robots into the robo team or connect to a plc or IT interface or Programming Port.
It's great in a sense we don't have to match the controller IP address to program it. The XF1 is on a DHCP server at 172.31.17.255 that assigns an IP to the user (similar to the ABB IRC5). Plug and Program.
A few extra things to be wired up are the additional external stop and additional operator safety. If not used it had to be jumpered. (16 pin plug on the controller).
Also the controller has onboard 16 pin digital IO.
The UPS ACCUMULATOR (Battery box) is supplied in a separate little box that can be daisy chained to several other krc5's.
The whole commissioning took less than 8 hours.
I hope it would be useful information if someone ever gets a c5. Luckily we're fortunate to have one of the very few c5 supplied in the world.
Hi all,
For the one's who got their hands on with the new KRC5 micro on KSS8.7 and Profinet 6.0 KOP.
The fancy 8 port ethernet switch on the krc5 will be a little tricky.
But for use KLI2 (Port XF5 for PLC Connection - Ethernet/Profinet)
Manual mentions XF6 does the same but does not appear to establish any comms.
Use KSI (Port XF1) for Programming Wov/Debug.
Hope it helps
There should not be, as long as you manage the INTERRUPT ON and OFF commands carefully.
The first thing any Interrupt Service Routine should do is turn the Interrupt that called it OFF, so as to ensure that any anomalous conditions (like a "flickering" input) do not cause the interrupt to fire while the ISR is still executing. When to turn the Interrupt back ON again depends on where you need it.
So your INTERRUPT OFF commands should be before the BRAKE commands.
Thanks Skyefire.
Much appreciated.
Hi all,
I had populated the below and seem to be reasonably working well but will there be an issue with re-triggering interrupts in the same program over and over again?
Any helpful insights will be greatly appreciated.
DEF part_st( )
CONTINUE
IF $ADVANCE==0 THEN
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
BAS (#INITMOV,0 )
ENDIF ;if $advance==0
INTERRUPT DECL 11 WHEN $IN[91] DO PARTCLOSE()
INTERRUPT DECL 12 WHEN $IN[92] DO STOPATPART()
WAIT FOR NOT ($IN[91] OR $IN[92])
PTP XP1
PTP XHOME
;STATIC POINT
LIN XP2
O_GRIP = FALSE
INTERRUPT ON 11
INTERRUPT ON 12
BAS(#VEL_CP,0.05)BAS(#ACC_CP,5)
;FAST SEARCH FOR part
LIN XP3
;CALCULATE DISTANCE TO Part
XP4.Z = rDIS_TO_Part - 100.00
BAS(#VEL_CP,0.01)
BAS(#ACC_CP,1)
;SLOW SEARCH FOR part
LIN XP4
IF (O_ABORT_OK ==TRUE) THEN
;DO NOTHING
;END PROG
ELSE
LIN XP5
LIN XP6
LIN XP7
$ADVANCE = 3
PULSE(O_PART_GRIP,TRUE,3.0)
ENDIF
O_ABORT_OK = FALSE
END
DEF RETRYGRIP()
INTERRUPT OFF 11
INTERRUPT OFF 12
O_GRIP = FALSE
O_GRIP_ERR = FALSE
LIN XP2
PTP XHOME
PULSE(O_GRIP_ERR,TRUE,3.0)
WAIT FOR ((I_GRIP_RETRY)OR(I_GRIP_ABORT))
IF((I_GRIP_RETRY)) THEN
INTERRUPT ON 11
INTERRUPT ON 12
BAS(#VEL_CP,0.05)
BAS(#ACC_CP,5)
;FAST SEARCH FOR part
LIN XP3
;CALCULATE DISTANCE TO Part
XP4.Z = rDIS_TO_Part - 100.00
BAS(#VEL_CP,0.01)
BAS(#ACC_CP,1)
;SLOW SEARCH FOR part
LIN XP4
INTERRUPT OFF 12
ENDIF
IF(I_GRIP_ABORT) THEN
ABORTGRIP()
ENDIF
INTERRUPT OFF 11
INTERRUPT OFF 12
END
DEF ABORTGRIP()
INTERRUPT OFF 11
INTERRUPT OFF 12
O_GRIP = FALSE
LIN XP2
PTP XHOME
PTP XP1
O_ABORT_OK = TRUE
END
DEF PARTCLOSE()
BRAKE F
PTP $POS_ACT
rDIS_TO_Part = $POS_INT.Z
INTERRUPT OFF 11
END
DEF STOPATPART()
BRAKE F
PTP $POS_ACT
O_GRIP = TRUE
WAIT SEC 2.0
$TIMER_STOP[1]=TRUE
$TIMER_FLAG[1]=FALSE
$TIMER[1]=-2000
$TIMER_STOP[1]=FALSE
WAIT FOR ((I_PART_GRIP_OK)OR($TIMER_FLAG[1]))
$TIMER_STOP[1]=TRUE
IF $TIMER_FLAG[1]== TRUE THEN
RETRYGRIP()
ENDIF
IF (I_PART_GRIP_OK) THEN
;DO NOTHING
ENDIF
INTERRUPT OFF 12
RESUME
ENDDisplay Morewhat does it mean "part is closer...."?
if you want two interrupts just declare two instead of one...
make sure to avoid used ones or reserved range.
in your program insert something like:Code; your program is started... INTERRUPT DECL 11 WHEN $IN[91] DO Part_In_Contact() INTERRUPT DECL 12 WHEN $IN[90] DO Part_Is_Closer() WAIT FOR NOT ($IN[90] or $IN[91]) INTERRUPT ON 11 INTERRUPT ON 12 ; do something INTERRUPT OFF 11 INTERRUPT OFF 12 ; do something elsethen after the END of your program add ISR routines
CodeDEF Part_In_Contact() ; your code... END DEF Part_Is_Closer() ; your code... ENDFor more details read the manual and check examples in the forum. This has been done many times...
Where does the pointer go to if I add a RESUME function in the part in contact?
Display Morewhat does it mean "part is closer...."?
if you want two interrupts just declare two instead of one...
make sure to avoid used ones or reserved range.
in your program insert something like:Code; your program is started... INTERRUPT DECL 11 WHEN $IN[91] DO Part_In_Contact() INTERRUPT DECL 12 WHEN $IN[90] DO Part_Is_Closer() WAIT FOR NOT ($IN[90] or $IN[91]) INTERRUPT ON 11 INTERRUPT ON 12 ; do something INTERRUPT OFF 11 INTERRUPT OFF 12 ; do something elsethen after the END of your program add ISR routines
CodeDEF Part_In_Contact() ; your code... END DEF Part_Is_Closer() ; your code... ENDFor more details read the manual and check examples in the forum. This has been done many times...
Thanks panic mode,
Part is closer is turned on when the ultrasonic sensor gets to 100mm above the part to tell me to reduce speed and search for part to make contact. At this point the vac is turned on to continue lin_rel motion -2mm on Z until it senses vac made signal or does not go past the 100mm allowed travel and issue a fault
What are you trying to do here? The PTP #POS_ACT will counteract the C_DIS on the LIN_REL, so the robot will do stop/go/stop/go every 100mm.
If you removed the PTP $POS_ACT, you'll end up stopping some 200-400mm lower than the position where PARTFOUND goes True, due to the Advance Run Pointer. This situation is what Interrupts were created for.
Your approach might work, if you used much smaller Z steps, and your tooling had a generous tolerance for height errors. So, if your gripper had spring-loaded suction cups with ~40mm of spring travel, and you used -10 in the LIN_REL instead of -100.
Thanks skyefire,
Unfortunately the tool does not allow for tolerances so interrupts might be the only way forward as Mentat suggested.
I assumed the stop go stop would give the controller enough time to terminate the motion prematurely but looks like it doesn't.
But here's what I'm trying to do.
1.Search whether the part is closer. $IN[90]
2.Search when the part is in contact. $IN[91]
SO I will be needing two interrupts,
Can you suggest what the syntax might look like for two interrupts in the same program?
Tia
Hi all,
Hoping to see if someone had done a smarter and more simpler way to auto search for a part? Parts are stacked vertically and robot will be incrementing Z everytime the program is loaded.
I am currently following the logic as below,
MAIN PROGRAM
HOME
LIN P1
LIN P2
IF NOT PARTFOUND THEN
REPEAT
PTP $pos_act
BAS(#VEL_CP, 0.25)
BAS(#ACC_cp, 10)
LIN_REL {Z -100} C_DIS
UNTIL (PARTFOUND)
ENDIF
;PART FOUND
DO SOMETHING WITH PART.
END
So how do I stop the current logic when part found in a simpler way apart from setting $ov_pro speed
to 0 and interrupts and end the iteration.?
Just want to make sure the relative linear motion terminates when part present is detected by an input.?
Any helpful suggestions appreciated.
Kind regards
If the plugs behind the robot or the rdc box or the controller are unplugged recently. Please recheck if the pins are still in the right spot. Had seen cases where the pins get bent when technicians plug them back with brute force.
It's generally the x21 or the motor power plugs.
The kva will depend upon what application you will be using the robot for. The more harder and faster you drive the motors, the more kva it attracts.
I had the same issue. I worked on a project with Profinet MS 5.0 and had OPCUa as an option already in the controller with KSS 8.6.6.
Do you have an OPCUA in the PNIO DRIVERS?
I had to manually disable it and upgrade WV to 6.0.xx to clear a few bugs.
And just to add it to the list.
While using Work visual 6 on the KSS 8.6.6 does not give the Profinet IO option for 64 safe io and xxx non safe io.
Just says Profinet io xxx.
Had to go through the pain to refer to the manual for a simple task to not include the 64 bits anymore and just use the non safe bits for Profisafe robots.
