Posts by ValkataX

5000 posts and still doesn't know the basics FROM THE MANUAL (YOUR HOLY GRAIL).
Good luck................useless forum

You dude, I'm addressing,referring to,pointing........all you.

You aren't obligated to answer me i know, but when you do please be on topic, and don't make suggestions and give advises you don't understand.

All the best.....

Dude you don't even understand how sensors work.

When you don't understand something say "I don't know", don't write stuff that are irrelevant or off the topic.

Users that post here are super more helpful and understandable than you.

Ofc you do define it.

DEF IR_PROG(); DEFINITION OF PROGRAM INTERRUPT
Z_POS_SENSOR = $POS_ACT.Z
BRAKE <------ I dont use this
RESUME <-------- I dont use this
END
And it works fine!

That is what i meant

Forget about the $BRK_Mode i asked if someone knew how to do it it's not so important.

My main questions:

I know they are separate movements and etc., but do i have to do it with SPLINE,(CP - continious path) movements, or can i do something to make it smooth?
Is it possible to control the velocity/accurasy during the movement?

Hello,

I have a question about control of the A1, A2, A3, A4 ,A5 ,A6 axis.

What i have as configuration:

KUKA KR210 R2700 prime FLR
KSS version 8.33
KUKA KRC4 controler

Whant I've done so far:

I lowered the acceleration and velocity of the PTP movement and the LIN movements.
I have two separate movements:

- First one is with defined coordinates
- Second is with the same coordinates, but with different Z value - meaning it only makes the robot go down.

Im using interrupt and a sensor connected on $IN[value].

My whole process is this:

1. First movement
2.Interrupt(for the sensor to detect something)
3.Second movement with same coordinates, but different Z (going down) - adn with slower velocity and accuracy

I defined the sensor without BRAKE/RESUME.

My goal is not to have a pause between the movements.

I know they are separate movements and etc., but do i have to do it with SPLINE,(CP - continious path) movements, or can i do something to make it smooth?

Also I want to control the brakes of those axis - meaning enter the $BRK_Mode.

Is it possible to control the velocity/accurasy during the movement?

All the best,

Valentin Krastev

Yes I meant "soft servo", to elaborate - I want to get in soft servo mode on the KRC4 controller, on the KR210 R2700 CR prime FLR KUKA robot, I want to find out how to smoothen the braking process(slow down the movement of the axis)
The movements that I do are various and the soft servo mode works fine with PTP movements.

In one of the topics here is said that this is done by that code:

DEF TORQUE_MODE1( )

DECL TorqLimitParam myLimits5

PTP 1

;axe 5
myLimits5.MONITOR=#OFF
myLimits5.MAX_LAG=250
myLimits5.LOWER=$HOLDING_TORQUE[5] -1000
myLimits5.UPPER=$HOLDING_TORQUE[5] +500

SET_TORQUE_LIMITS(5, myLimits5)
PTP 2

;WAIT Time=10 sec

PTP $AXIS_ACT

RESET_TORQUE_LIMITS(5)

But I can't seem to find the right value for the axis - meaning how much to lower the motor holding power, so they become "soft"
That was my question all along and I think by writing "I want to smoothen the motors(values), can you help me" I said exactly that, but ok here I'm being specific!

Also, torque control for the motors of similar KUKA models should be the same - I don't think that they will come up with different drive type for each robot

KUKA KR210 R2700 prime CR FLR
KSS 8.33 - the KSS version is not an issue - given by the fact that program code from different versions work without a problem
KRC4 Controler - supports only this controller - also program code from older controllers (KRC2, KRC1) work on many occasions.

That, are the reasons I didn't elaborate on the details - I was just searching for an example code.

Also i didn't meant to offend you but the last few days all i do is read the fcking pdf's and when i got stuck and asked for help - someone tells me "Read first - there are answers in the pdf".........

I did exctly what you said in the end of your reply, i asked a specific question + explaining the details of the machine which needed to be dealt with.

I asked sbout the torque "smoothness" after i read the pdf! In there i found very good explanation about torque movement and commands (y).
So i didn't ask about that i asked for "smoothness of torque control (values)" on a specific robot model" and hoped you and your collegues can help me out.
I don't mean to explain myself to you now, im just clarifying the situation.

And yes i did bother to read allmost all of the documentation for my robot model, but as i said there aren't a lot of clarity on a few subjects.
There they didn't say nothing about values of the "holding torque" of each axis. Each axis have a different value of "softness of the motor" to set, so when you get to that value your robot arm (A2, A3) starts to obey the gravity.

The point is to get to that value,HENCE my robot is KR210 R2700 prime FLR (Pretty big and heavy and expensive) so i asked you to help me out so i didn't damage anything.
Also i am not certain if the safety will go and stop the movement on when i stop the program, when the axis start to fall.

Sorry for not clarifying that in the begining, but i thought that judging by the fact you are hero member and have like a million posts being experienced and all, you will get me and help me out.

Next time i will write all the details + photos videos and etc.

Thanks a lot, you confirmed my thoughts that this is just the regular forum where people tell you to read the manual every time you ask a specific question.
Of course, I can do that, but judging by the fact that most of the users complain about the manual being "not so helpful" I decided to ask you, apparently it was a mistake
Never the less have a nice day and peace out.

Hello guys,

Rookie question,

Is there any way to control the torque of KUKA KR210 prime CR through a command in WorkVisual without the KUKA Force Torque control module.
Sorry for the stupid question, but I heard that there is a way to smoothen the torque on a particular axis.

Thank you in advance.

The PC doesn't shut down for 30 min, it shuts down normally (for a min or so) - what i meant is that when i get the error and turn of the controler PC, later on or in the next morning when i power it up the error is gone.

Usually when i power it down i have to wait a little bit (5 min or so) and then turn it back on and the error is gone.

Also when i use the button on the back of the smartPAD everything is fine

But when i use the front green button i get the error message "Process Active KSS 01372"

This only happens when i try to play hence execute a program from the smartPAD.

Thank you very much, you are awesome!

Hi guys, sorry that i write here so often and ask stupid questions but sometimes i don't really get what the manual says.

So my question is how to correctly set up Point-To-Point Velocity.
I tried with $VEL_AXIS, i tried with $VEL_CP (the velocity of the path)-manual says it's for LIN type of movement dunno if it's correct but with no success.
It's the same for the acceleration.

Can someone help me get rid of this problem once and for all.

No,no i didn't mean that the PC shutdowns for 30 min.

The whole process that i do:

WorkVisual program - Send to controller (KSS) - Everything is ok (uploads correct no errors) - I select the program
(again no errors) - I attempt to play the program in T1 mode - And then i get and error "Process active".

I restart the pc and then i try to run the program again - same error.

I get that it tells me that I'm already running it, but apparently I'm not.

I've read the manual if it was helpful I wouldn't write here for help.
Wait until the end of processing, stop active processing.
Well, I've done that when I send a program from WorkVisual to KSS I wait a lot before I send the program to the KSS I stop everything I stop Submit Interpreter and deselect it and deselect the program and still I get this error.
My question was is there a way to Stop/Restart all active projects on KSS, and to stop all active programs, and where can I see the active programs besides the obvious file path or folder where I deploy them.
I've done shut down/restart and the only way to clear that error is to shut the controller down and wait like 30 min or so for the backup batteries to discharge.

The error message is - "Process Active - KSS 01372", the robot model is KUKA KR 210 R2700 prime CR , KSS 8.3.
When i load a program from WorkVisual at the start of the program i get this message.
I think it is using Multi-Submit, cuz maybe that is the reason i get this error.

Thank you very much!

Hello guys,

One stupid but easy question, what is the differences between T1, T2, AUT, EXT modes.

I know that T1 and T2 are Teach modes with different restrictions.
But in AUT mode there seems to be so velocity thingy because every time when I test a program that ran normally in T1 mode, in AUT is with super speed.

Can someone help with that, cuz in the manual I can't seem to find the exact differences?