ok, it's look like that...
Posts by rybar
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from the begging i'm trying to explain, that simple programs consisting basic commands eg. motions(all LIN,PTP,CIRCLE and so on with VEL,ACC... declared independently or globally in BAS.DAT) works fine. The problem is with another functions like REPEAT,LOOPS, etc. which seems to be incomprehensible for KSS, eg.:
DEF TEST()
INIINT R=1
R=R+1
UNTIL R>100
ENDgenerates error:
DEF TEST()
INI
PTP HOME Vel=100% default
***INT R=1
***R=R+1
***UNTIL R>100
PTP HOME Vel=100% default
ENDbut in this same file program works sequence like:
DEF TEST()
INI
PTP HOME Vel=100% default
PTP{X 200 Y 200}
LIN_REL{X 5, Y 5}
PTP HOME Vel=100% default
ENDExcuse me if I don't understand Your previous guidelines, but above examples are taken from manual so think, both are expected to be correct
It's true that I'm not expertise in KUKA programming, I'm trying to learn but in that problems I couldn't find any explanation in manuals.
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yes, creating a new files and using them it's good idea, but i still don't know what is wrong when:
INI
PTP HOME VEL=100% DEFAULT
LIN_REL{X 200}
PTP HOME VEL=100% DEFAULTis correct and works, but:
INI
PTP HOME VEL=100% DEFAULT
***INT R=1(LOOP, REPEAT etc.)
PTP HOME VEL=100% DEFAULTgenerates "Illegal or unknown block" error.
Yes, maybe it's to easy to be understood and solved :).
In the same file OrangeEdit indicates:
Code
Display More1 DEF TEST_1 ( ) 2 INI 3 BAS INI 4 INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( ) 5 INTERRUPT ON 3 6 BAS (#INITMOV,0 ) 7 A20 INI 8 IF ARC20==TRUE THEN 9 A20 (ARC_INI) 10 INTERRUPT DECL 6 WHEN $CYCFLAG[3]==FALSE DO A20(TECH_STOP2) 11 ENDIF 12 A10 INI 13 IF A10_OPTION==#ACTIVE THEN 14 INTERRUPT DECL 4 WHEN $CYCFLAG[2]==FALSE DO A10 (#APPL_ERROR) 15 INTERRUPT DECL 7 WHEN A_ARC_SWI==#ACTIVE DO A10 (#ARC_SEAM) 16 INTERRUPT DECL 5 WHEN A_FLY_ARC==TRUE DO A10 (#HPU_ARC) 17 INTERRUPT ON 5 18 A10_INI ( ) 19 ENDIF 20 GRIPPER INI 21 USER_GRP(0,DUMMY,DUMMY,GDEFAULT) 22 SPOT INI 23 USERSPOT(#INIT) 24 TOUCHSENSE INI 25 IF H70_OPTION THEN 26 INTERRUPT DECL 15 WHEN $MEAS_PULSE[TOUCH_I[TOUCH_ACTIVE].IN_NR] DO H70 (6,CD0 ) 27 INTERRUPT DECL 16 WHEN $ZERO_MOVE DO H70 (7,CD0 ) 28 INTERRUPT DECL 17 WHEN $TECHPAR_C[FG_TOUCH,8]>0.5 DO H70 (8,CD0) 29 H70 (1,CD0 ) 30 ENDIF 31 USER INI 32 ;Make your modifications here 33 PTP HOME Vel= 100 % DEFAULT 34 $H_POS=XHOME 35 PDAT_ACT=PDEFAULT 36 BAS (#PTP_DAT ) 37 FDAT_ACT=FHOME 38 BAS (#FRAMES ) 39 BAS (#VEL_PTP,100 ) 40 PTP XHOME 41 42 43 PTP HOME Vel= 100 % DEFAULT 44 $H_POS=XHOME 45 PDAT_ACT=PDEFAULT 46 BAS (#PTP_DAT ) 47 FDAT_ACT=FHOME 48 BAS (#FRAMES ) 49 BAS (#VEL_PTP,100 ) 50 PTP XHOME 51 END
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Hi again,
now I have some more free time so let's play again :).
1. The problem with copying files from USB to disk drive was solved by using and just editing original file .src taken form hard disk. I still don't know what is the difference between simple .txt and .src(now I have no time for wasting to solving that, so such solution must be enough ).
2. Now I try to define INT,REPEAT,LOOP etc. functions, but always i get "Illegal or Wrong..." error. Basic ones like PTP,LIN works fine. Could they be locked/disabled somehow or just KSS/Techpack dependent ?My KSS 2.76_28 with GUI V 2.3.36.
Regards
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Ok, it works!!! Yesterday I have replaced KRC folder on D:/ with the new one taken from other disc, and robot works with data for KR200/2 TJ. I think my one were corrupted or just wrongly edited...thanks for help.
Also I would like to ask, if there are any spacial rules during preparing src file with other software to be clearly understood by KUKA compilator?In the other words, I was trying to wrote a script generating simple programs like square moves in the loop. Now, when machine suppose to work fine I'm going back to work, but before i had some programming issues like:
1. It didn't want to copy files into POWERON folder because of "File wrongly copied"(from other location on hard disk, and also I was trying to copy src file created by kuka but edited on other computer).
2. When I write simple program by hand, robot don't understand some commands like LOOP etc., even if there are directly prescribed from some exampled programs found in programming manuals(with "illegal..." fault or something like that ). Also, in KRL assistant I can only chose PTP, LiN motion commands and some simple logical functions. Do I need any special upgrade to get robot understanding all commands?I have read several manuals, but nowhere found explanation for that.
Regards
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Hi,
this one have no extension, there is exactly 1000mm between A3 and A5 axis. But now I realized, that I don't know what is physical, easily recognizable difference between 125/150 and 200 option?? Is it possible to recognize them?
Also i didn't take under consideration that it could be KR125, because in all robcor.dat files from all MADA's (for every type of KR125 as well as KR150 from D:\) have:
$MODEL_NAME[]="#KR125_1 FLOOR ZHO1",
but my one is with ZH 200-2 wrist. Only for some KR200 there is: $MODEL_NAME[]="#KR200_2_TJ FLOOR ZH02". So the next question is, what is the difference between ZH01 and ZH02 wrist , and if I' am right if ZH02=ZH 200-2 ??.
I'am asking, because i'am sure that type and producer of some "kinematics" influence on control system configuration(because of dimentions, gear ratios etc.).
Also, only with MADA for KR200/2 TJ there is no "Wrong machine data for this robot type" alert. But to be sure, when I get home, i'm going to check what file is in RDW card.
According to wrong marstering i agree, that it has influence on accuracy and behavior of the arm, but can a small inaccuracy during mastering causing so faulty behavior as twisting A5 axis by 50deg during X 500 movement(I'm nor sapient, I just don't know)?
Regards
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Dear All,
looking for some advises/comments clearing my problem. I'm going" " trying to force my KRC1 to keep tool in parallel/perpendicular position.
I bought it several months ago with illegible model number, but after some research i determine, that it should be KR200/2 TJ(because of ZH 200/2 with mounting of A3 bearing plate divided on 3-Tejin). First of all, i have copied fresh MADA from D drive, done mastering and ABC World measurement for the Tool. Robot was doing strange twisting of A,B,C axes eg. when i was moving only along X axis in manual world mode it was leaning also B axis, along Y using A axis.. The same with PTP and LIN motions, it was moving A,B,C axes to reach desired position, instead of keeping the flange in constant orientation.
I spent a lot of time reading manuals and topics but do not have any ideas. Was trying MADA's for all KR150 and 200 taken from D:/.
Please me to understand and fix it.
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Hi all,
I'am asking for some help with my KRC1 Kr150 robot that i bought for some garage use. I have got 7 axis option which I decided to upgrade up to 8 axes by replacing PM1-600 with PM2-600/16/25 and wiring. When I use it with $EX_AX_NUM=1 7th axis works fine but whenever i change it for $EX_AX_NUM=2 to run E2 I'm getting error 223(POWER MODULE AXIS E2 NOT OR WRONGLY PLUGGED). I hope it's caused by wrongly defined $PMCHANNEL and $DSECHANNEL, but because I'm out of ideas and couldn't find an answer in documentation, I decided to ask for help here on the forum. Could someone guide me how should I define those parameters in my case or what else could causing error 223? For 7 axis I have $DSECHANNEL[7]=7 and
$PMCHANNEL[7]=8. I have tried several combinations but I didn't hit the right one :(.Jumpers S1, S2, S3 as well as X7,8 and 9 are closed.