No offense but your descriptions are not very useful. No one knows by guessing from your descriptions in what exact state your system is. So time for a clean start, by either reinstalling from scratch or hiring professional on-site support or talking to kuka support. A experienced tech could look deeper into the system and might be able to fix things when seeing everything through directly on the machine. Talking you through the process by means of forum posts is in my opinion impossible. To many options here. So lesson learned never change a running system at least not when you do not have apropriate methods for a roll back, e.g. backup images.
Posts by Fubini
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I hope this is not true.
Unfortuntly it is true. So either restore backup image with kuka ecovery tool and stick or start reinstalling everything from scratch. First Windows Image from kuka stick with recovery tool of Kuka and then KSS.
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REVERSE
Should be INVERSE.
Or you use external offset driver to passively drag along external axis. The external offset driver offers a different redundancy solution than standard which simply is program desired external rail axis position.
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Exception 14 is always something that only KUKA with knowledge of the system source code can help with. Its an unhandled c++ exception in the source code of the vxworks realtime controller and requires info about caller stack. To make it easiest to analyze kuka needs a full krc diag at best taken right after the exception occured. Unfortunately KRC_log is not the most relevant log file with the necessary info for errors like this. So unfortunately you will have to wait until kuka gets back to you. Probably as a first step they will offer an upgrade to the newest vss 8.2 to see if this error is already fixed by kuka developers.
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Also check you load data. You change tool for every point which potentially also leads to a load change. Maybe to a false load?
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If an axis changes its value in position monitoring but does not actually move physically its probably simulated. Check for any messages not only alarms and also in logbook.
Maybe its also setup as 5 axis robot. And a6 is used as additional axis? How is the kinematic setup in machine data?
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There was a considerable reduction in uncertainty (from 0.5mm max deviation to ~0.3, consistently) measured over the path after I performed load data determination
If you see it consistently along the path probably more in the direction of load data and overall accuracy. Backlash is a local phenomenon whenever an axis changes its direction.
Maybe adding some weights on the flange might help.😁
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The robot I'm working with is a KR240, and I only have about 6kg of payload on it (lol).
Thats very unusual. And actually is worst and not best case for robots.
Usually load is closer to nominal load and machine paramters are tuned to perform best at or close to nominal load. Did you check all loads? There is not only TCP load mounted to flange but also additional loads for a1, a2, a3 to be considered. Load data determination only considers TCP load. The first two a1 and a2 additional load by default are zero but $load_a3 is not. Also load data determination is also best for higher loads. For such small loads precision is not very good. At best use some cad data for such small loads. This type of robot has no torque sensors so load data determination needs to estimate torques from current. For very small loads it quickly gets difficult to get precise torques since the load effects can not easily distinguished from expected estimated torques from the path.
Is the robot equipped with absolute accuracy? Whats the setting of $adap_acc and $opt_move for your robot. Does your robot type have elasticity compensation (any $eko_dat[] not zero in $robcor.dat).
What is the exact robot type kr240 has different variants. E.g. if its a quantec it could be e.g. extra ultra or prime. With prime being the best.
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I noticed that in d:/, there's an application called "cloning." Is this used to clone the disk?
Thats probably not from KUKA. KUKA only offers the KUKA usb stick with KUKA recovery option package.
The client doesn't have disks provided by Kuka.
He should. No system is shipped without. Gather version and serial number information and talk to KUKA. They can maybe provide the disks but admitted maybe won't since KRC2 based systems are out of service for a long time.
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What is missing in RE: Loop / repeat?
Additional information to all this constructs can be found the system integrators manual. Just look it up. You should read in the version fitting to your controller and kss version. Info you do not provide. As already said last time do not hijack old posts but create your own threads with more details on what you want to achieve. With your given question I can think of at least 10 different answers. See forum read first on how to post correctly and where to find additional info.
READ FIRST...
how to post correctly:
1. be a good citizen and follow common sense. this includes no sharing or asking for copyrighted material. such posts will get you banned (because we don't want Kuka legal team stepping in and request ban on all manuals). an example of something that will get you in trouble is any material from Kuka College.
1.5 make SURE to post in the right forum section (manuals in manuals section, IIWA and Sunrise topics in IIWA section). see attached example for IIWA... sigh..
Please…
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In automatic that is not possible, You need to use automatic external for this. The external signals to be used can be found in the manuals automatic external sections.
And btw. this relates to this old post from 2014(!) how? Please do not hijack threads but use your own.
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Get the kuka recovery stick. Comes with a manual. Just need to boot from it and follow instructions on the screen. So basically the same way as any other imaging software but done with kuka usb stick and kuka recovery option bootimage installed on it. Needs to be purchased from Kuka if you do not have it already. Its highly recommended. If you do not yet have it buy it. Just to be safe in the meantime take a full archive and store your running WorkVisual project safely. These help restoring as well with expert knowledge but easiest way for beginners and fastest for beginners and experts is the kuka recovery with kuka usb option.
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And as soon as it runs again take a recovery image with the kuka usb stick and store it safely away. Also take one before starting to modify anything. It will always be the fallback to go back to if anything goes wrong again.
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i just created a new project and sent, i have not made any changes to the project
And thats what you never should do. You would have to configure a lot more. Always take the project on the controller and add needed stuff. But at least your previous project then should still be on the controller any you can reactivate it hopefully.
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Get a monitor connect it directly to the control pc vga inside the krc4 cabinet to see if KSS starts at all. If so reactivate your last running WorkVisual project and do a complete cold start. If it is running you can activate expert mode. If this does not help restore the last valid image you took before this happened. Take a new image before doing this steps.
How exactly did you get to the not working WorkVisual project? From scratch? By uploading a working project and modifying it and download?
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In KRL all declarations need to done at the beginning of a program before any code. Since INI Fold contains executable code no further declarations after it are possible. So add your DECL stuff before the INI but after the DEF line, see post #2 of panic mode.
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Yes. Peri_rdy alread changed with krc4/kss 8.x Detailed Signal diagrams can be found inside automatic external interface description inside documentation.
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Have you tried changing output state after activation of the Interrupt? There needs to be a signal flank.
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Sounds to me that Digimatrix does not understand the robot controller and how advance run pointer works. They should maybe do their calculations based on main run info like $BASE_C and $TOOL_C instead advance run info $BASE and $TOOL. The workaround, essentially stopping the advance run pointer works for sure but if done correctly this would not be necessary. Advance run stops always cost execution time.
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