Posts by SU05LLY

    Morning all / Panic,

    Apologies, The Tech Package version:

    ForcetorqueControl v4.1.1

    I placed a ForceTorque Control command via the menu to turn the task off but this errors out when executed via a RESET ().

    Have also logged a case with KRUK, just putting some feelers out there to a manual way of cancelling....

    Evening all,

    Tech Specs:


    KSS 8.6.6

    KRC4 Compact


    Is it possible to within KRL cancel an active ForceTorque Task?.

    Within an application, I use a force guided motion task to feel it’s way into a tool changer, this executes fine, but my problem comes IF the PLC triggers an “AbortCycle” request.

    This request triggers an INTERRUPT which essentially makes the robot go in the reverse direction and to HOME1.

    At this point the Cell ().SRC is reset and PGNO_REQ = TRUE

    My Problem:

    Upon the next job/PGNO issued, as soon as the robot begins to move I get an immediate stop and $Correction exceeded alarm. I believe this is because the RSI is still open?....or....the task is still thinking it’s being executed?.

    This has been a read of many a KUKA .PDF for me, but I feel I’m overlooking a simple solution and hence hoping someone out here has done this or commanded a cancellation of a task within ForceTorque Control......

    Good afternoon Forum,

    What do they say...NEVER make changes on a Friday.....What have I been asked to do an hour before "GoHome time" = #Grrr.

    Tech specs:

    KR3 - R540

    KRC4 Compact

    KSS 8.6.6

    Additional axis


    Rotary table ( E1 ) to act like a chuck in a lathe - continous motion while robot linearly moves up a valve stem. Exact rotation vrs linear displacement is W.I.P.


    I have this external axis set up as : ENDLESS.


    I set the .E1 as : ASYNC

    I then use : ASYPTP {E1 20000.0}#AS_PROG

    Then LIN move the axis from point A to point B.......The number of rotations of .E1 is matched to the linear displacement.(Crude I know)

    Next linear move I go the opposite way :to decrement the stack up of degree's : ASYPTP {E1 -20000.0}#AS_PROG

    Then LIN move the axis from point B to point A

    Problem query:

    I sometimes have a delta between the physical and resolver 0 degree. Therefore making my displacement vrs rotations a load of tosh...

    Is there a way for me to Unmaster and then Remaster in KRL as this resets the overflow and therefore I can drive to .E1 0.0 PRE any measured LIN movements?.

    I note this isn't great, but sadly this process does not suite using a KUKA external axis to be a spindle like device...However, I'm having to work with what I have currently.

    any help / offerings GREATLY received..

    Have a good weekend community

    Hi Makrem,

    Consider the following:

    > 2D / 3D

    > Static mounted or robot mounted camera.

    > Lens : Cognex do a good lens calculator. FoV / DoV )

    > Lighting : you mention a shiny object, think about LED colour , diffused lighting.

    > Conveyor : If applicable, a MATT surface with obsurb lighting to give a more defined silouettee of the PatMax of the part(s) to pick / place.

    Fieldbus : If using a SMART CAMERA, you'll need the relevant fieldbus tech package most probably ( unless you already have this ). - Mainly applies if tethering directly to the robot.

    If using a GigE camera, if a Beckhoff PLC is your "Master", you can feed via EtherCAT and this has its benefits ( no BIT / BYTE / WORD swapping required), else Kuka VisionTech is my obvious choice as this is configured and controlled through the KONI port of the robot itself ( Kuka Optional Network Interface ).

    Also, PerceptionTech : If wanting a dynamic solution, Perceptiontech is just pure brilliance, We use this on the KRC4 platform, you load a CAD model into the "Camera", and the system detects and "Picks". - Draw backs are that the model generations can only been uploaded via the OEM ( RoboCeption)...They are working on a customer self suffiecient .EXE, but they for now offer a package of a number of model generations for a one off fee. ( NDA approved )

    This has it's benefits with KCP commissioning and a "Production screen" within the GUI.

    what will drive the above really comes down to £££££££.

    A good calibration artefact is a FIDUCIAL plate, sized for your resolution and accuracy requirements. Available from most vision suppliers.

    Repeatable and accurate vision systems often come down to good planning, this in my experience is lighting.

    Morning Skyfire,

    I'll dig through some old customer archives I done for KUKA Systems. The nuclear jobs used a "touch sense" approach that effectively found an ORIGIN via 2 point sensing in working direction #X and #Y then used that result to do a Z 3-point top down approach to create the plain relative to the working base.

    Will report back.

    Hi Skyfire,

    The designers to be fair "assumed" the X/Y/A would differ between operators and how the present, but now that the tooling has come to site, the interference fitment is quite impressive from an engineered perspective ( as I guess you'd hope from a tool changer ) , but far more suited to a CMM machine sat on a granite worktop LOL!!!!....

    I was wondering if there was anything within a .SRC called FrameLib ( maybe called something similar ).

    also the design engineers are looking into compliance tool changer adaptors ( jury is out on this atm ).

    "You have Force-Torque Control -- can you use that to let the robot "feel" its way into engaging the part?"

    I have seen this is a sales promotion of this tech package placing circuit boards onto mtother boards - has anyone used this "sensor guided motion" before?.

    Good morning forum,

    Tech Specs:

    KR10 - R1100 Agilus-2

    KRC4 Compact

    KSS 8.6.6


    SafeOperation 3.5

    RoboTeam 3.1

    ForceTorque Control 4.1


    Running into a snag with our cell.

    The part were wanting to dock up-to is wheeled into place and we use vision to locate and offset our BASE_DATA[Calculated] ( using a 2D camera ).

    My "Problem" being, the Staubli tool changers we're using are somewhat a super interference and "accurate" fitment, and what I'm seeing is that different presentation positions / different floor area's do present varying presentation angles which are causing a headache.

    I'm being asked to software fix a mechanical design problem ( well that's what I fell at this point in time ), but in the spirit of teamwork, I'm wanting to negate as much variance as possible.

    I recall in nuclear doing BASE origin and angle calculations in the past using an inductive switch and fast measurement input (X33). Tho I didn't write this function, it worked really well, and thus wanted to ask if anyone has a piece of code I can deploy and amalgmate into my routine?. Essentially, I'm wanting to calculate the A/B/C and assign to BASE_DATA[Calculated].

    Many thanks in advance

    Good morning Fubini

    Appologies, I was doubting myself even as I was writing the above and could / should of made it more clear....

    Essentially, I'm driving a probe vertically up an engine valve stem, and whilst moving up this valve stem, I'm needing to rotate the turntable ( 7th axis ) that it is mounted onto a set number of degrees of rotation.

    to make certain we probe all the surface, this rotation is not fully calculated just yet, so it is abit of trial and improve.....

    Many thanks

    Evening Forum,

    Tech Specs:

    KR3 - R540

    KSS 8.6.6

    External Axis : MG-8_KSPsr12 ( #ENDLESS ROTATION )

    Transmission Ratio : 10 / 1


    LIN movement between two points, we alter / want to alter the ".E1" of the ROTARY external axis. For example:

    xApproachPosition.E1 = 0.0

    XTargetPosition.E1 = rGlobalDeclaredVariable

    PTP ApproachPosition

    LIN TargetPosition

    However, should I modify the XTargetPosition.E1 ( before the program is called ) to a value it doesn't achieve this by the time the displacment is achieved.

    NOTE: The rotations could be many MANY revolutions,

    In short, I'm wanting the robot LIN displacement to be controlled so that the .E1 rotation is completed @ the same time. ( the set up to me should be deployed as synchronous? )

    Many thanks

    morning forum,

    Tech spec:

    KR10-R1100 Agilus-2

    KSS 8.6.6

    SafeOperation 3.5

    Using FSOE ( EL6695 ) bridge for our Beckhoff to PLC signalling.

    I'm now wrapping this cell up under the SafeOperation umbrella.

    Sadly were using the KRC4 compact enclosure(s), and ordered with FSOE means I don't have the X42 ( nor do I believe it it part of the Compact interfacing ).

    With regards to the Safe Input for "@mastering" ( EJB ), could you tell me the BYTE and BIT for this as my KUKA gospel only covers the first two BYTES of which this signal does not fall within.

    many thanks forum

    um....definetly plausible ( I'm going back a few years ), but certainly I'd go as you point CAT6 / CAT6E....( not sure if CAT 6E is even a released standard).

    it was however a scenario of familiarity which wasn't the camera.......

    for reference the camera type:


    This is crude but will get you going:

    Declare the following in $CONFIG.DAT or a PUBLIC .DAT if you've created one:

    GLOBAL SIGNAL oSPS_Green $OUT[***]

    GLOBAL SIGNAL oSPS_Amber $OUT[***]


    within SPS.sub:


    oSPS_Green = TRUE



    oSPS_Amber = TRUE



    oSPS_Grey = TRUE




    But don't forget to negate once the other condition is met.

    Morning forum,

    Cell configuration:

    KR10 R1100 Agilus-2's (x2)

    KSS 8.6.6

    KRC4 compact


    KOP files:


    ForceTorque control



    Master/Master Topology


    Query / Issue:

    The cell in essence shares a workpiece via GEOLink within RoboTeam and "picks to places" an engine component. If at any stage a safety protocol is interrupted ( E-Stop / Floor scanner / Airskin ) then the cell Stops, waits for a RESET then resumes. ( Great )......However......if activating a Superposed ForceTorque Task to Velocity control a programmed path motion ( on detection of a load set the $OV_PRO = 0 via the task parameters ) , if a safety protocol is once again interrupted, we can of course RESET the safety, but the KCP displays the following message:

    Stop by $CORRECTION function ( reset or block selection required)

    I have via reading the RSI manual v4.1 come to conclusion this is to do with RSI and a bi-product to using the TASK within the TorceTorque package.

    I have since spoken to KRUK and they advise on reducing external correction inputs next time......( I'm still exchanging emails to progress this meaning)

    I recall seeing on the forum some time ago about a means to utilising the IR_STOPM to cancel this inhibitor message / condition and to allow for a controlled restart.?.

    Ultimately, having to go into T1 and Reset the .SRC while load sharing a workpiece is a trap door within itself for recovery that I just can't seem to feel is Kuka's only way around this scenario or set up.

    Anyone with any ideas would greatly be appreciated.


    We use to get this "no entry" as I call it when the cables failed but also because the electrical installation team didn't use >= CAT 5E LAN cables. The system is sensitive to the cable shielding.

    Also, within the GUI of VisionTech, are you able to see the camera(s) via serial number , if so then the cabling must be ok and if so, your camera processing could may be in error and a replacement could be required.

    Another point to note, I think you need to transfer the license file using the Cognex license serever, as it may be assigned to this camera. Seeing you have two cameras, means at some stage two licenses were purchased and installed onto the controller. But I could be over cautious on this statement.