Thanks Panic mode for the info, I had never seen anything but electric motors on kuka, but I thought I double check, I will do more research on kuka painting robots.
have a good day.
Thanks Panic mode for the info, I had never seen anything but electric motors on kuka, but I thought I double check, I will do more research on kuka painting robots.
have a good day.
Hi, we are looking at getting KRC2 GM robot for wet and powder coat painting, I was told by my manager that it needs to have air driven servos to prevent static / spark for safety, I never heard of it, I was trying to find some info on the KUKA website & Manuals, but I could not find any info in that relations.
Just wondering does anyone have any info on it?
are there even air servos?
is there anything special about a painting robot?
or can I use a regular material handling robot and adapt our paint gun to it?
Thanks.
I have had similar problems, and it was cause by the board not seated good in the PCI, that long board in the PC (forgot the name) I removed it clean it up, reinserted and have no problem since, I have been reading on this forum that the board sometimes causes startup errors.
Also one of our robots KRC2 Win95 when we recieved it from a GM plant would not startup, and found out that I had to set the time to before year 2020, for whatever reason it was set to year 2096 and it give me a startup error.
Hi, I have been trying to do something that I'm sure if it's possible with my current program structure,
(I tried some ideas with no luck)
Program is executed as follows,
Main() will loop and if $IN[xxx]==TRUE will call
leg() ; goes and picks up a leg once completed calls
leglifter_1() ; which has my search function using interrupts
once search is completed
WAIT FOR $IN[430]
RESUME
I use a continuity to trigger the interrupt, the search works as it suppose to, but due to employees not following procedure, it would be nice to redo the search with a push of a button
if $IN[430]==TRUE, robot will RESUME and gripper will open and drop the leg, I want the operator to be able to (set Laser Sensor which they forget to set, they only thing they have to remember) and reset the current program to search again with a push button.
is there a way I could trigger a restart of the current search program from sps() LOOP without triggering RESUME?
attached are the search program files
I forgot to include in the code that I run the robot to Home position, without it without it give BCO error.
and before the code i have $TOOL=TOOL_DATA[1]
I use the edit to write the code Select to execute the run
as soon as I add #TOOL I get the RED X over the file.
but the code that Skyefire suggested works good.
LIN $POS_ACT:Mypos
I could not find any info on touch sense tolerance checking, if the TCP is out or the wire is bent, the code below worked good for me.
this is a simple touch sensing check that would allow you to call a different job if a particular tolerance has been exceeded. When you do a search, a VCDx variable is declared in the data list associated with the src file. An attribute of this variable is the OFFSET value that gets calculated every time you do a search. This is the correction data that shifts the program positions when you do a CORR on instruction. You can set up some simple logic that uses this variable to check if the value is within a specified tolerance:
IF ((VCD1.OFFSET > 2.5) OR (VCD1.OFFSET < -2.5)) OR ((VCD2.OFFSET > 2.5) OR (VCD2.OFFSET < -2.5)) THEN
HALT
ENDIF
This is the logic I used for a 2 dimensional search (X and Y). You could use similar logic for a 3 dimensional search routine by adding the VCD3.OFFSET check logic. Instead of halting, you could insert a job call to your TCP check job. I have attached the sample program.
IF you have KUKA GM base robot instead of the X11 you will have CC1 connector, it's Jumpered differently.
and there are a few things you have to do before you will be able to move it.
Hi I have been trying to move in TOOL path, but I get a Syntax error, 2033 Message text END OF BLOCK OR COMMENT EXPECTED
KRC V4.1.6 SP3
KS V4.83
KR200 Robot
code that I tried are
LIN_REL {Z 100} #TOOL
if I comment ;#TOOL it works but it moves in #BASE
I tried
DECL E6POS Mypos
DECL REAL Myreal
MyReal=100
Mypos.x=0.0
Mypos.y=0.0
Mypos.z=Myreal
Mypos.a=0.0
Mypos.b=0.0
Mypos.c=0.0
Lin_Rel Mypos #TOOL
if I remove #TOOL I get no error but it moves in base.
is this robot to old to use the #TOOL? or is there a different option?
thanks.
I think robowreck is on the right track, I had the same problem with my E1 Axis, and it was the wiring hardness, in my case the polarity was wrong, they shop that prepared E1 for us had made a mistake on the E1 plug and reverse the polarity in the plug X12,
if your wiring hardness has a broken circuit or a short could cause the problem.
can you hear/feel the brakes release when you try to jog it?
once I had configure ours, and corrected the polarity it all worked good,
if X12 polarity is wrong it will not rotate.
Thanks SkyeFire and Panic mode, I wish I had your brains,
you are right 8 was way to low, and my {res} needed to be 16 instead of 8, I'm not familiar with EDS files, and understood them wrong.
Now that I change it to this:
ANIN1=36,0,16,3,CAL 32767
ANIN2=36,2,16,3,CAL 32767
;ANIN3=36,4,16,3,CAL 32767
;ANIN4=36,6,16,3,CAL 32767 no more errors when I enable this one.
it updates on every 0.01ma change.
and now there is no interference between sensor 1 and sensor 2.
now I just run the math in the sps file to convert input to mm.
Quote
Remember that the ANIN value you see is simply a representation of the "percentage of max" of the sensor, scaled to 0.0-1.0. If your sensor accepts inputs from 0-10V, then the ANIN representation of 5V would be 0.5. OTOH, if your sensor accepts 4-20mA, then an ANIN of 0.5 would represent an input of 12mA. And if your sensor was measuring 0-480V, the ANIN value of 0.5 would represent 240V.
this makes a lot more sense now.
Quote
The key insight here is that you're not really dealing with analog signals -- you're dealing with "digilog," or analog signals translated into digital.
Never heard of this before, so I will see if I find any info on it, would be a valuable thing to understand.
time to build the safety fence, and put it in operation.
Thanks for your time to help.
We got the robot up and running, but I'm not all the way happy with my analog input, I'm not sure if it's a setting or a module problem,
the laser distance meter is accurate from A to B, about 1200mm distance using 4-20ma, but the robot $ANIN[] will only update every 0.15ma which in my case is about 22mm I like the robot to be a bit more accurate than this, it works for now but I see a future collision with the part.
I have 2 laser distance meter 4-20ma, and both do the same,
I tried to change the {res} from 8 to 16, but then whenever ANIN2 laser is move, it also changes the data in ANIN1, I don't understand why.
tried changing CAL to 32767, have tried different numbers with same results.
==========iosys.ini==========
ANIN1=36,1,8,0,CAL 8
ANIN2=36,3,8,0,CAL 8
ANIN3=36,5,8,0,CAL 8
;ANIN4=36,7,8,0,CAL 8 ;if I enable this one I get and error I don't need this I/O just bugs me knowing it's not working.
can somebody explain to me why this is happening?
thanks.
I searched again through the files and found this
T2_ENABLE $IN[3] after I changed it to 1025 it all seems to work well,
I did and it shows it is at 100 under variable monitoring but OV_PRO stays at 10 I can't change it once I'm in T1 it changes but in T2 it switches back to 10.
I try looping $OV_PRO=100 AND $OV_JOG=100 in sps.sub and OV_PRO won't change stays at 10
I searched with orange edit to see if it was over written by code, it didn't look like it.
The funny thing is that it started to do it after I changed the E1 to Async,
(changing it back doesn't solve the problem now I'm wondering if It was a coincidence and not related to ASYNC )
but all of a sudden it worked at high speed after I changed to T1 and back to T2,
yesterday I restarted the robot and now I can not get it in to high speed in T2
I will play with it more on Monday see if I can figure out why it is doing it.
Ever since I isolated E1 cause I want it always to be ASYNC but now T2 mode will only move at 10%
Tried to set $OV_PRO=100 and $OV_JOG=100 it goes 100% in ext mode but not T2
Is there a setting that I need to change?
Thanks
When I connect as follows it seems to work.
24V EXT -- Emergency Stop 1
0V EXT --- Emergency Stop 2
if it's wrong, please correct me.
thanks.
Hi, I was trying to integrate an external E-Stop, on a GM KRC2, and CC1 plug,
I connected 5 to 9 (ESPB1 to No external emergency stop 1) to a NC Estop Switch,
and ESPB11 to 24V Ext Emergency Stop 1, pin 6 to 10, to a NC E-stop Switch,
2 NC switches on the same E-stop button,
which I understand a dual channel is required from the manual.
the E-stop works turns off the drives and stops the same way as the local E-stop, but once I acknowledge the Estop Message the message goes away but the drives won't come on, till I go and press the Local E-stop and acknowledge the local E-stop message and drives come on,
i can acknowledge the local E-stop either external button or pendant both work,
but the external E-stop Message goes away after Acknowledge but drives won't come on.
what have I messed up, or why does it not work?
thanks.
Thank you guys it all works,
yes it's linear,