Posts by chickenkiller

    Hello all

    Question from KUKA KRC4 KSS 8.3.

    I was wondering if we can adapt and modify (or if someone already experimented it) the KUKA constants in the config.dat which is directly linked with the BAS.SRC file.

    Parameters like cp velocity, swivel velocity, acceleration and jerk.

    Before changing it, the first question that came to my mind is the load on TCP and load on the arm 3. Modifying these parameters, I assume would certainly have an impact on the movement and the path followed. However, with load on TCP to the maximum allowable load for the specific robot, would make the robot work in its 101% and would impact the life of drives and other components.

    Do we have any tool, that can calculate the max allowable value for the above said parameters or materials which can guide over this topic.


    Hi All

    Looking for KSS 8.5, KR470 - 2 Robots, the KUKA Device Connector (MQTT) configuration.

    I am completely new to this topic. In our upcoming products, we move from Ethernet KRL to MQTT telegrams to communicate between Robot and Beckhoff PLC.

    Would like to know how to configure this at KUKA end and if there is any config and simulating software.

    Would be really helpful if someone who has already did this, share some ideas.

    Thank You

    HI All

    KSS 8.3, Cybertech robots (6 axis) Conveyor Tracking 6.

    I have a strange problem where for certain product pick/place on a conveyor, the robot moves through singularity position at axis 5 and stops over the conveyor.

    One possible idea here, was to change the tool to avoid the axis 5 reaching the 0 position.

    However, as a first step, a software based solution was searched and one which is promising is Setting $PAL_MODE = TRUE for this path position where the robot crosses singularity position between two LIN movement in a conveyor tracking.

    Assuming it works, (For movements where Axis 5 was close to 0 position it worked) how far would you be recommending this as axis 6 is being overused.

    Thank You

    Hello All

    Would it be possible to run multiple robots in officelite or atleast multiple robot installed in one officelite version and switch between them .

    I currently have a single user license with Office Lite. I would like to have more than one kind robot KR (KR210, KR22, KR***) version in this office lite to create platform specific programs and testing them.

    Is it possible with Office Lite ? Have anyone done something similar before.

    Thank You

    to me: the question is not really answered

    In bavaria they call the request mentioned in post #1 as "eierlegende WollmilchSau"

    but as mentioned in post #6 he is happy

    You are right. That didn't answer my question, but atleast he understood my problem. Copy and paste line by line for initialization is a pain. I raised the same question to KUKA, Waiting for their response.

    I am interested to log the variables and signals at different point of the program execution to understand and sort the error.

    One idea would be to create a functional block with struc/array and to call this function from main block and write this array at different program execution point like a ring buffer.

    The problem I have now is, all the elements in the function need to be initialized and KUKA cannot self initialized this file. When the size of ring buffer is >5000 it is really an issue. Does someone have any different idea to make such log of variable.

    This log file should hold the signal state, variable state, switch case state and internal position of robot movement etc at different times. Does someone have an innovative or easy approach to solve this issue.


    Hey Thanks for the reply

    Got to know from KUKA that Interrupt is override in the BCO Run and hence interrupts cannot be relied on.

    The $MOVE_BCO should be TRUE, however it is false during the BCO_RUN. Hence a KRCDiag is submitted to KUKA.

    Workspace would be tested and I will update here,


    Hello Everyone

    Thanks for the kind reply. This is for academic purpose, so I hope you understand what we do here is not complying most of the standardized safety measures, which of course will be in future, but we try to take one step ahead.

    The standard way as suggested is stop move enable when PLC senses that $NEAR_POSRET is false and $ROBSTOPPED is False.

    However, i would like to stop is also from Robot.

    A normal interrupt is not executed in a BCO_Run. It does gets activated once the robot completes its BCO Run. I put a trace on the Flag controlling this Interrupt and found that the signals are complying to the Interrupt requirement. The KUKA doesn't obey the normal procedure here, this is what I found with. From their document, I also found that there is $MOVE_BCO internal variable, which according to their document should be true when a robot is in BCO_Run. But it remains false in all cases.

    So, I woud like to know if someone came across this situation already and apart from this signals, if there is another way, something like the workspace monitoring which stops the robot from entering into the not permitted zones, the robot behaviour in the BCO_Run and which modules are actually functional during this BCO_Run. As I can right now say, IO Module works, but Interrupt functionality doesn't.

    Many Thanks

    Hello Everyone

    I would like to know more about the BCO Run and the Interrupt execution in KUKA.

    I have a condition for Interrupt execution to stop the BCO Run Process and ensured that the variable is not ON when the interrupt is turned ON. This was validated.

    In between process, there was a necessity of BCO Run. Theorotically the interrupt should be activated during the BCO Run to Brake the process.

    However the interrupt was triggered after the BCO Run.

    The BOOL Variable $MOVE_BCO is OFF during the BCO Run.

    Can someone support me to stop the robot at the BCO Run in Automatic mode. This is kind of an internal safety so that even when PLC permits, the robot should not be moved.

    Thank You

    Hello everyone

    I have been facing a strange issue with the EKI data (XML over TCP/IP) exchange between KUKA KRC4 and Beckhoff at EXT Mode.

    We use DHCP for IP assignment at Robot Interface and PLC. The firewall assigns a fixed IP.

    Beckhoff is the server and KUKA is the client.

    When the first EKI connection is established between KUKA and PLC, KUKA sends the first message which is recieved by Beckhoff. The acknowledgement message sent from Beckhoff is getting delayed in reception at the KUKA Robot. Once the first message is exchanged between Robot and PLC, other communications are faster. I tried replacing the Beckhoff here with the EKI Simulator and the case is the same.

    However, when I restart only the Robot in the network and try the EKI data communication in EXT Mode, I donot face any delay.

    I dont get this strange behaviour of the system.

    Had anyone faced this situation before, kindly guide me .


    Hey thanks for the detailed info.

    Switching from ProfiNet World to EtherCAT world, i was confused with a few technical information, which was cleared by your last message.

    However the problem is as follows.

    My PLC friend has no clue with the External control of KUKA Robots.I explained him the external configuration using the KSS System Integrator manual, but this is not helpful. The next step would be to get him a sample code of Twincat 3 with External Start, progammed so he can understand it. Hence I asked for a sample Twincat Project file.

    My second query was handling the error quitting procedure, for which probably I have to reprogram the complete gripper process and error handling.

    Thank You

    Hello All

    I request your help to provide me a project file from TwinCat3 where the external start interface is programmed to start the KUKA robot as slave.

    Since we are ( myself and the PLC programmer) are not aligned in this topic and after explaining with the signal flow diagram available at KSS8.3 document, I felt it would make the process much easier if there is a preprogrammed Twincat 3 project file is available.

    We are currently struggling in the following process.

    1. Restart a robot process after a ramp stop

    2. Error Handling. ($CONF_MESS)

    3. Error Handling for a PLC(Master) - (Slave)KRC4(Master)-(Slave)Gripper-Festo

    Thank you in advance for your support.

    Hello Massula

    Thanks for your message. As stated the IO list provided to me was from KRC4. I tried to study how it works and it was a problem at the PLC side as I didnt get the synchronized input signals. Right now we have framed the correct signals needed from KRC4 IO list. At the moment it works fine, however needs further correction at the PLC signal.

    I am attaching the Manual name here also the screenshot of the signal flow diagram which I referred.

    I am not sure if I can attach the manual here


    Hello Massula

    Thanks for the message

    The following is how i configured my Input/Output signals to quickly match the VKRC4. I presume that the provided list is a KRC4 Input/Output List.

    If so its KRC4, could you please help me how to translate or match the signals correctly for a VKRC4 Robot.

    I tried it myself, however, the robot always respond " Warte auf gueltige folgenummer". I can read the exact input and output for signals from plc in my Inputs/Outputs display, however the folgenummer is not written with these signals.


    FOLGESTART, SRB = diPrgNoValid[33]

    P_TYPE = 0(INT)

    P_FBIT = 17

    P_LEN = 8


    R_FBIT = $OUT[17]

    Bereit = $PERI_RDY [42]

    RK23 = Ich weiß nicht genau von die EA Liste

    RK8 = $SS_MODE[39]

    RK9 = $EXT[52]

    LPKT = doJobEnd [68]

    PF0 = $IN_HOME

    SAK = $ON_PATH

    I am also attaching the IO List for your reference.

    My Home position is the Start position, hence on start the signal is communicated to the PLC.

    Hi Massula

    A quick question to start the VW KUKA Robot in Ext mode.

    The robot works perfect in T2 and the Brake Test, Mastering test works well. However I couldnt start the robot in Ext, because the robot always give an error " Warte auf folgestart"

    I can read the program number signal bit in my IO List, however the folgenumber is always zero


    Hello Panick Mode

    Any update with the VASS Document or a backup. I also do program VW KUKA. I checked with VW and they bluntly replied its not possible. If you have any could you share with me.