The links for the manuals don't appear for me on Firefox or Chrome. PanicMode's do appear though and links in other threads appear for me as well.
Is there something else I can do to find these manuals?
The links for the manuals don't appear for me on Firefox or Chrome. PanicMode's do appear though and links in other threads appear for me as well.
Is there something else I can do to find these manuals?
KRC2 does not support splines, that I know.
However, still hoping to get an answer as to whether increasing ADVANCE will create more smoothing or not. If it doesn't, what is the advantage of using a value of ADVANCE greater than 1.
Unfortunately, these answers aren't in any of the manuals that I've read.
In the future, when you offer to invite someone to read the manual, could you please specify which manual and the page that the answer is on. That'd be a huge help. Thanks.
We're running a KR60L30/KRC2/KSS 5.4.14 with a rotary table using Powermill to generate CAM toolpaths for carving foam and wood. We've been experimenting a bit with velocity and acceleration variables and now trying to understand better the relationship between APO.CVEL and ADVANCE. Specifically, I'm wondering how much smoothing ADVANCE cause beyond the next point.
If ADVANCE is set to 1, the robot will load the next point to be run which CVEL will use to round the path past the point it is currently approaching. Will the robot use subsequent points beyond the next point to calculate the smoothing or only the next point? What is the advantage of using higher values for ADVANCE?
I've noticed that when I set CVEL to 100% and ADVANCE to 5, we get smooth fast movements, but loss of fidelity in the carving: the surface of the part doesn't look to be as smooth as it could be. CVEL values below 40% cause very jerky motions in the spindle as well as the table: too little smoothing.
For example, if I set CVEL to 40 and ADVANCE to 1, should that generate moves with greater fidelity to the CAD model than if I set those values to 40 and 5? Will more ADVANCE generate greater path smoothing?
Thanks
Solve my own problem.
It turns out the ESC board that Kuka sent us was the problem. I replaced that board with our old and now the robot works as expected. For now.
I'm looking for help to interpret our circuit problem.
We're running a KR60/KRC2/KSS 5.4.14.
I started getting an Unknown Operation Mode message over a week ago during program execution, until finally, restarting the controller no longer cleared the problem and the robot was frozen. After replacing the KPS, the ESC board, the motherboard, and finally the KCP, I discovered that the KCP was faulty due to being dropped recently (probably).
The replacement KCP cleared the Unknown Operation Mode problem only to leave us with message 310 - Safety circuit for drives not ready. When I press any of the enabler switches on the KCP, the Submit Interpreter never changes to green, so jogging not possible.
Per the KR C2 edition2005 USA - Operating Instructions manual, I've verified that our X11 connector appears to be jumpered correctly and that there is continuity, at least, in all of the connections.
From the same manual, I verified that the ESC board LEDs indicate that the KCP, MFC, and KPS are all functioning correctly and that none of the fuses are blown out.
I've attached 2 images showing our ESC diagnosis window when selecting the KCP and another when selecting the KPS. I don't understand how to interpret these messages though. Regardless, it appears that something didn't evaluate correctly and the drives aren't being activated.
Could someone assist in helping me determine what else I need to do to allow the safety circuit to activate the drives?
Thanks
Kishan,
We are quite literally having this exact same problem. Did you ever get this resolved? Any advice you'd care to share?
Thanks for your help, guys.
vvelikov, thank you for the offer. I will definitely contact if move forward with SprutCAM.
This was all very helpful.
We're trying to get started with a KR60-L30-3-KS with KRC2 and KSS 5.4.14 as a CNC milling machine with an external 7th axis kinematic system. Our spindle is not currently setup to be run through KRC2; we switch it on and off independently. I'm currently trying to evaluate SprutCAM as a possible solution, but am running into problems with the post processing. The code that sprutcam produces throws many compilation errors and will obviously require quite a lot of post-processor work.
I need to know whether I should abandon sprutcam for mastercam/robodk or try another cam/processor package altogether. To do this I need to know if anyone out there is willing to lay out some successful routes to getting error free code out of sprutcam for our Kuka setup? The guy at sprutcamamerica doesn't seem to be very useful in this regard. At this point, I'll settle for the easiest possible anything at all. I just need to know if sprutcam is capable of producing anything useful out of the box.
I've been trying to get the people at sprutcam to produce a good robot model for us using the datasheet for our model as well as our rotary table. But it's clear I need to be able to get data from the robot about the TCP as well as the xyzabc location of the table. I haven't yet seen how to do this. Is anyone willing to share their experiences with this? What else am I missing?
At this point, I've produced a little square path program using a calibrated tool and base in the KCP. I then produced a similar 2D Contour path in sprutcam using roughly the same dimensions as the square path I made in the KCP. The problem is that I don't know how to get sprutcam to use our robot's calibrated tool and base inside the robot model. My goal here was to simply compare src and dat files to see what the differences were. It turns out the sprutcam files won't compile as you can see in the pic.
I can't tell at this point if my problem is that I need to learn how to write a post processor or if there are far superior packages than this out there that I won't have spend so much time effectively earning a phd in robotics to use.
I can post the code if anyone cares to see it. The code I created in the KCP is short, but the one from sprutcam is significantly longer. I really don't know what to do at this point. I'm ready to abandon sprutcam, but don't have a great place to turn to after that.
If you only intend to respond with RTFM, please don't. I have read the manuals. I'm looking for specific parts of the manuals that I've missed. If you know what those parts are, please specify manual and page number. If you know of a useful tutorial, please show it to me. If there's a post somewhere that I've missed, please direct me to it.
Thank you.
We actually managed to change the file and now it's throwing an error in BAS.src.
Not sure what's happening.
We bought a KR60 with KRC2 controller v 5.5. It appears that the previous owner manually lowered the maximum PTP (DEF_VEL_PTP) and CP (DEF_VEL_CP) speeds from 100% and 2 m/s to 5% and 0.4 m/s. We can see in the System $config.dat file where the original values were commented out and the new values added. We just don't know how to change this file back.
Can anyone help? Or point me to where this has already been solved?
Thanks.