SharplesR you are a genius
Any reel help ? I'm stuck here.
SharplesR you are a genius
Any reel help ? I'm stuck here.
Hi,
IRB 1200 / IRC5 Compact.
I'm having a problem with setting up a used IBR 1200 ( the robot had been used for like 6 years ).
XS9 is wired based on ABB IRC5 Compact wiring diagram like shown below :
Pin 1 jumpered to pin 2 and pin 2 to pin 3.
Pin 4 jumpered to pin 5 and pin 5 to pin 6.
Pin 7 jumpered to pin 8 and pin 8 to pin 9.
Pin 10 jumpered to pin 11 and pin 11 to pin 12.
The robot was working before being unsettle.
I'm having " Limit Switch open, DRV1" error 90214.
What could be the reason ?
Thank you for your help.
Hi
KR 3 R540 / KRC4 Compact / KSS8.6.6
I'm working on an application that needs complex and curved paths so I'm using Spline blocs.
I want to set outputs during the movement of the robot ( between XPoint_8 and XPoint_7) but this is not allowed.
Is there another way to do that ?
It's really difficult to predict the approximate positioning ranges when using SPTP movements,that's why I've chosen Spline blocs.
Thank you in advance.
Thank you panic mode.
The problem was the missig RESUME at the end of my interrupt routine.
Hi,
KR 6 R900 / KRC4 Compact / KSS8.5.7 / WOV5.0.9
One of our customers wants to add an initialisation cycle on a robot that already work fine. With a push on a button I must first stop the robot, then do an offset following Z+ and then abandon the current program and RESET the cell.
Based on programming manual, I've used an interruption and it worked fine, but the problem is that the robot resume the cycle from where he was stopped after executing the interrupt program. (This is not what I need for my application).
Then I've tried using CWRITE inside "sps.sub" but it has no effect.
How could I STOP then RESET a task ( program ) ?
Check the value of $TORQMON_DEF[6] in $custom.dat
To test inputs, without a connected sensor, you should shunt the input then read the value : Display > Inputs/Outputs > Digital I/O
after configuring them with WOV of course.
Good morning,
2x KR10R1100six | PLC S7 1500 | WOV 4.0 | KSS 8.3.33
I want to establish a safe communication between two KUKA robots KR10R1100sixx recently installed. Each robot is already equipped with :
• 1x EK1100 | EtherCAT Coupler.
• 1x EL2809 | HD EtherCAT Terminal, 16-channel digital output 24 V DC, 0.5 A.
• 1x EL1809 | HD EtherCAT Terminal, 16-channel digital input 24 V DC.
My idea is to add :
1x PLC. Beckhoff
2x safe digital input module ( one for each robot ).
2x safe digital output module ( one for each robot ).
The EtherCAT output of the PLC ( Beckhoff ) will be connected to the EtherCAT input of the coupler ( first robot ), and the EtherCAT output of the coupler ( first robot ) will be connected to the EtherCAT input of the coupler ( second robot robot ).
The safe outputs ( robot 1 ) will be wired to the safe inputs of ( robot 2 ).
The safe outputs ( robot 2 ) will be wired to the safe inputs of ( robot 1 ).
I want to know your opinion about this solution for that application or propose me a better idea if there is.
Thank you.
you can use EL6692 EtherCAT bridge terminal.
https://www.beckhoff.com/english.asp?ethercat/el6692.htm
Hi everyone,
KR10R1100sixx / KRC4compact / KSS 8.3.33
Today my robot has given the following message : "KSS03186 : Drives have been discharged ( reason : SAFETY )"while moving in EXT mode, then stops.
Power off then power on the robot has solved the problem, but I'm worred if that happened again.
Why are the drives becoming discharged ? my X11 is well wired and connected. And if there is a solution how do I fix it ?
Good Morning Guys,
Thank you very much for your replies.
Just to make things clear, I've modified $TORQMON_DEF[6]=40 ; in "$custom.dat", to force the robot to stop if a collision is detected, that's why I get this error. ( I can't increase the value 40 or my tool will be broken ). That's why I want an automatic acknowledgement of this error message. ( the presence of someone inside the cell is impossible during robot operation )
Good morning,
KRC4 Compact / KR10R1100 / kss8.3.33
Error : KSS01131: Ackn. Collision monitoring, axis A2.
Question: Is there a way to automatically acknowledge the error message, then reset the program after a stop when torque is exceeded ?
Our customer wants to eliminate any manual operation, is that possible ?
Check the software limit switches
Hi nar0909,
Thank you for your reply.
I didn't Know that I can change $CONF_MESS and $EXT_START values from the KCP. [PROBLEM SOLVED]
Please check panic mode's reply in post below about changing the value of $CHCK_MOVENA.
https://www.robot-forum.com/robotforum/kuka-robot-forum/$move_enable-configuration-not-allowed/msg72411/#msg72411
Hi all,
I have some problems in configuring EXT mode. kr10r900sixx / krc4 compact / kss 8.3.33 / PLC S7-1500.
1. KSS00249 $MOVE_ENABLE configuration not allowed ( screen 1 ) appears after reaching BCO and switch EXT mode. should I change $CHCK_MOVENA=FALSE ?
2. $CONF_MESS and $EXT_START are configured with the value $IN[1026]. This input is predefined always in Low state. When I connect it to a profinet input with WOV this error appears : "I/O driver PINO-DEV -> $IN [1026] IOSYS_IN_TRUE/-FALSE configuration error" ( screen 2 ), So How could I set those inputs to 1 by the PLC program without mapping $IN[1026]? ( screen 3 )
BAS(#VEL_PTP,25) : Velocity 25%
EL2809 : 16 outputs 24V/0.5A
EL1809 : 16 inputs 24V/3ms
You have to use X12 interface instead of wiring directly on the beckhoff module.
Connect the positive wire of the solenoid valve to one of the outputs and the second to a common ground, then you've to configure this output with WV to open and close the solenoid valve.
I advise you to use Rhinoceros 3D ( CAD software )
Link : https://www.rhino3d.com/download (full version for 90 days)
Tutorial :
Hi,
For anyone who'll face this problem in the future the solution is to:
1- in "Name:" enter "$ROBTRAFO[]" ( and not $ROBOTRAFO[] )
2- in "new value" "$TRAFONAME[]"
3- press "set value"