Posts by MeanRobot

See attached picture. Where can I get more of these?

The generic version of my post is here:
https://www.robot-forum.com/robotforum/gen…th-orientation/

I have searched and searched and searched. I am looking for where to get (purchase) one of those right-hand Cartesian teaching reference pointer tools with orientation (not sure what better to call it).

Since what I am looking for is not an actual robot or part, I have placed this topic in this forum.

I have one at my desk (that I think I got at a training) but it is showing some serious wear and I need additional ones.

The one I have is made out of orange rubber, has a magnet at the origin, each of the 3 directions / points (each about 2 inches long) are labeled with their direction (X Y Z) and orientation (A B C). The orientations each have an arrow indicating positive direction of rotation.

I have also seen, some years ago, some yellow plastic ones with colorful tips and lettering.

Please help if you know where to get one.

Quote from axv6l

I must change a toothed belt of ax5 there is a manual how to change it?

The manual would be the maintenance manual but there is at least one per robot model. What robot model is this for?

Actually your $CUSTOM.DAT should have 2 lines that look like:

CHAR $PRO_I_O[64] ;EXTERNES PROGRAMM FUER STEUERUNGSKNOTEN
$PRO_I_O[]="/R1/SPS()"

Do not change these. They are what start the SPS.SUB (Submit Interpreter) at startup.

If you would like to also start a regular program you will do that in the SPS.SUB.

There is already code in the SPS.SUB to select (ready for $EXT_START) the CELL() program if the system starts in Automatic External:

IF $MODE_OP==#EX THEN
  CWRITE($CMD,STAT,MODE,"RUN /R1/CELL()")
ENDIF

If you would like to select a different program, replace CELL with the name of your program.

If you would like to automatically select a program at times other than at start-up when in Automatic External you should search the KUKA forums for $CMD or CWRITE.

Quote from SkyeFire

I also haven't seen a version of OL for KRC4s yet.

It exists and works with Windows 7. But it is now a requirement that it be installed inside the VMware Player (which must be obtained separately).

I did not see any mention of you using the applicomIO configuration tool. Did you forget to do this? Did you follow the directions in the manual?

Has anyone tested to see if this works on a KRC4?

Depending on your software version it is either a necessary or legacy declaration of the external BAS program (see BAS.SRC for more details).

It is so the KSS knows what to do with the following and similar code:

BAS (#INITMOV,0 )

Does your current TCP have an C value (other than 0)? I would guess not.

So with regard to the orientation, just use the ABC World (5D) method instead of the ABC 2-point method to teach the orientation.

You just have to have the spindle perpendicular to the floor for it to work.

I had set up two frames. The first had XDIR of (0,0,-1), YDIR of (-1,0,0) and ZDIR of (0,1,0). And the second had XDIR of (0,0,1), YDIR of (-1,0,0) and ZDIR of (0,-1,0).

For the first frame your program calculated angles (A 180, B 0, C 0) and for the second frame (A 0, B 180, C 0). We know B was wrong and you have fixed that.

But, the first frame should have been either (A 180, B 90, C 90) or (A 90, B 90, C 0). Similarly, the second frame should have been either (A 0, B -90, C 90) or (A 90, B -90, C 0).

So either C needs to be set to 90, or your A calculation is also off for this special case (B is +/- 90).

Quote from bert

Ah...the KRL ATAN2 function takes its arguments the wrong way round

Also I have not noticed/found any issue with the other calculations, but if you mixed up how to use the ATAN2 for this case you may want to double-check the other ATAN2 you used as well.

Something is still messed up with the code when B is +/- 90.

ABS(ABS(XDIR.Z) - 1) < 0.000001

Instead of:

RESULT.B = ATAN2(0,-XDIR.Z)
    RESULT.C = 0

Shouldn't it be:

RESULT.B = ATAN2(-XDIR.Z,0)
    RESULT.C = 90

According to the error manual, error 10 should be "ERROR DIGITAL OUTPUTS".

Is it only on one PTP motion, or all PTP motions?

Did you recently upgrade your KSS version or transfer the program(s) from a different KSS version? Are there any other Tech packages you installed or un-installed recently?

Can you upload your program? The motion fold data may be messed up.

Old and new Programming Messages manuals from the KUKA Parts & Docs DVD dated April 2010.

The current (KRC2) and previous versions of the KUKA system (not sure about the new KRC4) do not support basic serial communication across ethernet. The closest thing they offer is the optional Tech Package KUKA.Ethernet KRL XML (EKX). This would require that the Keyence camera supports XML and I don't know if that is true.

Here are the ones from the KUKA Parts & Docs DVD dated April 2010 (the latest one I have received).

For which version of PalletTech (robot software) and which version of PalletEdit (laptop software)?

You should ask your local KUKA representative for a manual and price for the DirLoader. You could also ask about Download Server. Directory Loader is designed to copy a whole folder with commands from a PLC. Download Server is designed to download a single file at a time via Windows (like through a Visual C program you will have to create). This is my understanding of it, but to be truthful, I have only every used Directory Loader.

I think your best bet for that will be using KUKA's DirLoader tech package. I have no idea about the price. It basically lets you download all files in a directory straight to the Program folder on the robot via signals from a PLC or similar.

You can also read the following topic, as it goes over some of the same issues you are having (or may soon have):
https://www.robot-forum.com/robotforum/kuk…re-t7582.0.html

I think I understand now. You have a KR60L30HA that you would like to communicate with over Ethernet from your laptop. And your laptop has OfficeLite installed and you believe it is what is preventing your laptop from communicating. And one of the issues on your laptop is that the lights on the Ethernet port don't illuminate when you plug in your crossover cable. Is all this correct?

Was the port ever working? It may be turned off in the BIOS. And what are you trying to do with the Ethernet connection? Are you trying to transfer files or something?

No, the OfficeLite installation should not impact your laptop's other Ethernet communication. But if you think it is the problem, it would not hurt to un-install it. You can always re-install it later.

Your OfficeLite is not actually running while you are trying to do all this, is it? (OfficeLite does not play well with other applications.) Also if you have a VRC manager is in your Startup, move it. You only need to start it before you plan to start OfficeLite from KUKA Sim Pro.

Also, remember to disable the firewall on the KRC.