Posts by Raltru

    It's a safe robot?

    I was thinking in other way.

    I am pretty sure it's related with wiring on safety plug/connector, coz we fixed it adding a switch to change the modes, but i cant remember it now and i don't have noted the changes we made to fix that. Now i am out of robotics jobs.

    I am so sorry.


    we are talking about a old problem I got few years ago.

    I think the problem was model of robot, It was bad configured. Maybe changing the type of robot u can fix it. Sometimes 2nd hand robots have mechanical changes, like the arm length, u can add or remove a supplement on it. If the robot have been modified, the type of robot of the identification plate doesnt match with the real robot.

    Try to size the robot and look for the model with this measurements and change it.

    I tried to explaining myself on my best, I hope u can solve the problem.

    Hi guys,

    I am doing an scheme of a project with a KRC4 Robot. I need to know how Beckhoff Input/Outputs are wired on the controller.

    Need to read the original KRC4 scheme to know the name's of few elements but I am teleworking and I dont have the original one.

    After times looking for it unsuccefully, can anyone help me? I need the name of 24..30V Power supply Unit and where are plugged the wires A20-24V and A20-0V from Beckhoff Unit.

    If anyone have the pdf scheme, would be nice.

    Thanks for all.

    Thanks for answer!

    I am having same troubles in another robot, same robot and controller model. =S

    I have done the cable change on 5th/6th axis.... and error continue .

    My feeling is am not configuring something well or bad electrical connection on wires jumpers on securities... but i don't know what. Coz I have done always the same and I have few robots working.

    Robot looks like not limiting the acceleration to max acceleration on movements and its cracks.

    How is the correct way to avoid singularity and limit max acc (or set the correct acc) on axis??

    I use $CP_VEL_TYPE=#VAR_ALL to avoid singularity and I have tried change few acc variables in $machine.dat without any changes =S=S

    In last post, I answered I didn't change RDW.... It was a writing mistake, I did it on first days and error continue appearing after rdw change.

    Thank you very much.

    Have you reset the RWD setting to default ? or exchanged the RDW ?

    No, I didn't exchange the RDW and I didn't reset RDW seeting to default. I have changed the controller and reinstall KSS....

    I am thinking maybe its problem of Saferobot security jumpers?

    Can you tell me, how can I reset the RDW?? I think I never have to do it.

    Thanks =)

    EDITED: I have done $Rebootdse=true, and I continue having errors =S Thanks =)=)

    I have changed the controller and it's happening too. I swap connections of A5-A6 and same fail in same axis...

    If you want to limit acceleration just in one axis? How would u proceed??

    What do you mean by trace tool, I never use it on KUKA Robot.

    Thanks you very much =)

    I'm unsure of what you mean, do you mean your conditions that you pass in the IF statement or something different?

    i.e. IF DI[1] (IF statement with IO condition)
    IF F[1] (IF statement with Flag condition)

    I am writing my memory, I cant now write real examples.

    For example I can in few robots use IF DI[1]=ON, DO[2]=ON but in other I have to do it with Jump Label/Call


    IF DI[1]=ON, JUMP LBL[1]

    Fanuc robot controllers with version 7.7 and under have next syntax:

    IF (condition), decision(jump/call)

    Everything that you can find above 8.* you have choice to use old style if logic or you can do regular for everybody

    IF (condition) THEN
    !do smth
    (optional) !do else logic

    So, only is version of robot??

    There is any way to add/change the predefined kind of IFs?

    Thanks all guys =) :top: :top:

    :wallbash: :wallbash: :wallbash: :wallbash: :wallbash: :wallbash: :wallbash: :wallbash: :wallbash: :wallbash:

    The error persists, I couldn't fix it. But I have done a lot of tests.

    I can move full speed on T2mode 4th and 5th axis separately from min limit to max limit without error. Error appear doing it in with 6th axis.

    I have changed controller, data and power cables from controller to robot, changed data/power cable from back of to the servo, saferdw changed, and more test I am forgetting.

    Error appears in positions near singularity but it appears too in normal movements to in not dificult movements for robot. Its look like the axis tries to accelerate more than normal. I think robot should limit the fasters axis in a movement according to slower/limited axis.

    I am (bad)fixing my program changing the way of movements where the error appear or slowing so much the movement.

    When I dont want robot stop on singularity, I use the variable $CP_VEL_TYPE=#VAR_ALL. In others robots I don't have error on movements passing trought a singularity, it make movements slower on the others axis to permit 4th axis rotate correctly to reach the point.

    I am changing some variables in Machine.dat trying to limit acc/vel max in 6 axis, but I didn't notice changes on movements. Where is the correct way of do that?

    I don't have much more ideas of what its happening. Dunno if its bad machine configuration (weird coz I have reinstalled sistem, etc etc) or maybe engine transmission is damaged.

    Maybe, this robot isnt real KR2 210. I have seen sometimes sellers add/remove suplement between 3th and 4th axis to make it longer/shorter. When it happens to me, I just change the real model of robot to supposed model with/without the supplement. I never had the error in this kind of robots. They worked fine with the transformation.

    If you have any idea, please tell me it. I am pretty sure its not normal. :censored:(I will cut it with an angle driver soon)

    Thanks to all =)

    I have programmed some types of robot controllers.

    I noticed few of them, including of same controller model, are there ways of write them differents than other.

    I want to know why and if there is any way to change the form of predefined in IF/Select menu.

    Thanks to all readers.

    After few test, I created 2 different points, changing only 6th axis position. I tried to run it on 100% T2 speed and It continues failing.

    I know robot will have limitations in some traces/movements/etc... but It's having error in normal traces I am used to do in all my programs.

    It's weird and I am not sure what could be the problem. I am thinking maybe machine.dat is not correctly configured or something like that. I will restart v5.2.14 on controller adding the robot and loading my programs. I would check it.

    If you have another idea, please tell me it.

    Thanks =) :merci:

    Thanks fo your reply SkyeFire,

    The points are spacing, all of them need to rotate the axis with a high velocity. The moves aren't continuous. I have to change lot of them to CONT, but I would do it when I could fix that error.

    The payload has a mass of 60kg and the load data should be correctly... First of all, I thought the problem was this one, but I was looking load data and I don't see anything weird

    I solved the error in some of these points changing the trace, vel and acc.

    I think it have to be any configuration problem. Maybe is interesting to know that the robot is a SafeRobot.

    Thanks !!!!!

    Hello all,

    I am programming a KRC2 KR210, #KR2210_2 S C2 FLR ZH210 is the exact machine data. System Version is v5.2.14

    After lots of test on slow speeds without errors, I am having ERROR 2933 "Deviation in absolute position value DSE -- RDC axis <axis> when I am testing it in faster speeds on T2. :uglyhammer2:

    Number of axis isn't the same, I got errors on 4th, 5th and 6th axis, depending of the movement. I was changing some points trying to avoid that, but I think its not normal, and I have that error in a lot of movements. All of them are normal movement not rares or dificult to robot.

    Any idea???? ???

    Thanks to all =)

    Hello all.

    On R-J3 controller, I dont find the way to do this example code with out JUMP LBL.


    IF R[1]=1 AND R[2]=1, DO[1]=TRUE.

    Only way is


    IF R[1]=1 AND R[2]=1, JUMP LBL[1]


    Is there any way to simplify that? :merci:

    Hello all,

    Can someone help me with Timers in a FANUC controller?

    IF (condition), TIMER[1]=START
    IF R[X] > (desired time), TIMER[1]=STOP
    IF R[X] > (desired time), TIMER[1]=RESET

    That is, how can I know how long is from R [X] = 1 to R [X] = 2? It counts seconds or what?

    Is there any posibility using timers in any background program? Coz I think TIMERS cant be used on BG Logic.

    Thanks for all.

    I am trying to abort my main program (RSR001) using UI4(CSTOPI) and it's imposible. Controller is R-J3iB and when I abort with UI4 or ABORT(ALL) from FCTN Button, program look like aborted (ABORTED message appears instead RUNNING/PAUSED) and on top of Teach appears LINE 0 (instead LINE before abort). When I run the program it continue from program line where it was stoped, not at 1st line of program.
    I've used same way to abort every time w/o problems.

    Any idea??

    Thanks for all.