Posts by jthayer

For "SafeOpperation" it is a requirement that we validate the mastering of the robot.

The Master referencing test doesn't change the mastering of the robot it validates the current position of the robot servo motor to the stored value in the robots safety configuration.

The actual switch used can vary depending on the actual configuration of your system and if you are only using the robots internal safety with the extended SIB board or if you have a Safety PLC using CIP Safety or ProfiSafe. With just the SIB board it is simplest to use the KUKA master referencing switch and connect it to the robot. if you have a safety PLC you can use any in put to the safety PLC to indicate that the robot is in the specific position. this signal is then configured in the robots safety configuration to come from the safety signal for the safety plc.

the robot must have the axes mastered first.

the robots position is stored both in a move command. in the MasRefMain... might actually be a sub program from that...follow the setup, the KUKA Master Referencing switch can be used or optionally something else from your safety PLC.

If you are using a safety PLC and the Master referencing switch is connected to the PLC the Safety PLC sends the signal to the robot that the switch identifying the Master referencing position has been made.

The robot validates the robots current servo positions to the positions stored in the robots safety configuration.

If the Master Referencing test passes the robot safety is not violated

there are some more options with multiple external axes and configurations that don't allow all the axes to be check at the same time but basics are the same....

As always check this with your own safety risk assessment to your local requirements.

I think this is specific to the LBR MED.

not all version of the Sunrise OS will allow this.

Regard JT

So with the Sunrise work bench what did you mean by "reload a program"? Synchronize the current project or install a project?

If the system has booted and run with the current project and you are then getting a cyclic connection error' connect a computer monitor to the DVI port and reboot the controller to see the status of any potential errors on the PC. If you have used the recovery image to reload the Windows basis image, you need to install and the synchronize the current project to get the sunrise OS on the controller. default IP 172.31.1.147

From the one screen shot (4.png) where the Sunrise OS was loaded' the "No safe connection to SION CIB SR" points to the I/O mapping between the WorkVisual project and Sunrise Workbench. Might also be something related to the safety configuration in the Sunrise Workbench.

Regards JT

Optionally KUKA Safe Operation could add another level of redundancy to the process' depending on the priorities of the application. make a big difference if the robot wrist is inside harms way.

Hello,

What is the value for CDIS? it needs to be smaller than the distance being of he SPTP move.

not exactly related but given your attention to 500 points on your path make sure you have accurate tool load data so the motion planning can also plan for the mass on the robot.

regards JT

popezmark,

You have the exact two options to automatically do exactly what you want without Hacking the KONI.
KUKA.OptionalNetworkInterface 3.0 will give you access to set the IP address of the KONI from the SmartPAD just like the KLI.
KUKA.DirectoryLoader 3.0 will give you the option to setup and configure the control of the files loaded via the network so you can load them via KRL code without restarting the robot.

You will need to make the folder visible to your network and work with your IT requirements/restrictions. KUKA.OptionalNetworkInterface 3.0 will allow you to give windows access to the KONI network. KUKA.DirectoryLoader 3.0 will allow the KRL code to update and access files you transfer via the network. Your network sharing of a folder needs to be configured in windows. (sharing, rights, permissions) - IP address / hardware configured and controlled in the KUKA HMI software on the SmartPAD.

Regards

JT

Hi

This looks similar to the TRACC TCP from KUKA. I would think this message is coming from LEONI's setup program?

Are they using the KUKA.TRACC TCP software and the fast measurement inputs X33 on the robot?

It seems like in the video the drill is breaking the beams as expected.

Is there a message number included with the "Vector Move Missed" ?

Regards JT

Hi,

are there any more details about the "postbuffer out of range" if you clic h details button?

Not specifically for this but some times i just reload the basis image with the KUKA recovery stick and reinstall the project.

That seems to fix a lot issues when it seems like it should just work.

Regards. JT

hi,

double check the data cable between the KPS600 (PM1) and the first KSD. also double check that sam data cable between the KPS600 and the PC. reseat the cables may help.

regards John

Hi,

double check your PE grounding cables for the robot and the controller. intermittent faults that can be reset when the drives are off can be noise from the servo motors getting picked up on the servo feed back cables.

DSE1 is the daughter card on the side of the MFC/DSE card in the PC of the controller. There isn't separate communication for each servo to the DSE. The X21/X31 cable from the robot to the controller is something like canbus. (again poor grounding can allow noise to interrupt this communication)

PM1 is Power Module 1 the KPS600. typically only one in the upper right of the controller unless you have an extended controller with more drives.

Calling the KUKA Focus Center is free for trouble shooting, it is the parts and service that add up. They will want a current archive to review the event logs.

Regards John

NAT Will work.

Can you ping the host from VMware?

Can you ping the VMware from the host?

check your firewall on the host.

try turning off wifi.... I'm not sure why that is an issue some times but i have had that specifically work with older versions of officelite.

i would look at reseating the MFC card and reseating the riser card for the motherboard in the KRC2sr.

also think about calling the KUKA FOCUS Center. it is free

Check your SmartPAD.
I was just talking with someone with some of the same errors.
"Boot Error in file KagaInit.cpp in line P-325; Error passing KNET.xml, loading defaults"
"SYS-x-42 Error during ECAT stuck initialization. EtherCATwrappersys-x42.xml Error reading configuration file."

X42 is the connection from the CCU to the SmartPAD.
They were able to boot fine without the SmartPAD. When they swapped the SmartPAD to another controller the error followed the SmartPAD.
Also after they booted without the SmartPAD connected during startup the reconnected the SmartPAD and didn't get the error.... until they restarted the controller with the SmartPAD connected.