Posts by Dzonzi

But how to install V10 then? First, do we need to install V9 Rev. T and then V10 Rev B?

Isn't it strange that a billion-dollar company couldn't create software that can be installed on the most commonly used operating systems without any issues?

Hi, I connected Festo to my KUKA KR C5 controller, name devices, and put some IP, connection was established, but I got error "The configured device differs from the real device slot 4, subslot 1".

What is slot and subslot?

Does it mean that something is wrong with VTSA-CB?

What do you mean by "robot didn't continue its work"? After E-stop conveyor tracking is stopped and cannot be started again with that part. The part on the conv is lost, you need to back home and start the following with a new part.

As far as I know, you cannot continue the conveyor following after ESTOP, because the standard function will call the "CONV EXIT" routine to move the robot back home.

panic mode Do you have any tutorial on how to handle it?

Now, my default user is an expert. I want to make it a user operator. On some machines, I saw that when I switch from EXT to T1, the user selection window shows by itself. How do I do it?

Yes, I do understand Ladder. Thank you panic mode.

I have noticed that peri_rdy is true even when drivers are off so I am not sure if I should rely on it.

Drivers_on is going false as soon as peri_rdy is true. Prog start you mean $EXT_Start signal?

Hi guys,

I have a problem with KUKA KRC4 in EXT mode. Everything is ok, automatic runs until I open the doo. That's clear, but after that, when I close the door and acknowledge, it is impossible to start automatic and continue the program. I have $stop_mess TRUE, PLC sends $CONF_MESS but the error is not confirmed so I have both signals true. On the kuka techpendat I have no errors, alerts, or messages.

The solution for that is to switch to T1, press deadman and back to EXT and then the robot starts automatic immediately without any other action from my side.

Do you think what I am doing wrong? I mean the main problem here is that I can not confirm STOP_MESS and because of that I cannot make drives on.

Another thing that I don't understand is the kuka chart for external automatic. It says that first I need to send $drivers_on, wait for $peri_rdy, then conf mess. Is it correct? I mean, I think that drives on signal is ignored when we have stop mess signal on true.

Hello, but then how to set e.g 6 different data sets correctly if we have only one set of peak value?

I need just need to know the basic knowledge like teach pendant, language etc,

It is just a value.

Hello guys,

I want to slow down the last movement to prevent the gripper from shaking when stopping with a heavy load. Is there something like the inverse of acceleration?

That movement is quite long so reducing the speed is impossible. I would also avoid adding a new point before the last one and slow down from that point to the last point.

Thanks

I use SPTP 100% CONT 100 or 500 mm, no advance run stop (check it in T1 and debugging) and still stoping between some movements xD

The only advantage that I see in SPTP are faster moves in T1.

Take fanucs. Wooden robots. You can take some parts from the rubbish dump, replace them and it will work.

It makes no sense. Why you dont use exact position e.g if pos_10 then .....

put a lot of CONTINUE commands first

Have you ever programmed something in automotive standard?

It is impossible to use something that is not in that standard like spline blocks and stop conds.

If the stopping function returns TRUE we should stop in SLIN 1. In that function, we read input and compare it with the argument of that function and if the result is true then stop.

It's too difficult to stop at the position for Kuka with SPTP. Now I know why we still use PTP on many other projects. Basically, if the approximation is not possible we should not approximate.

I would like to stap just before dropping position. We have a function that checks input from HMI, it is like a breakpoint in debugging. We always use old PTP but for the current project, we use SPTP which makes only issues. Customer choice.