Posts by Fubini

  • KRC4 program capacity

    When and where under what conditions? The question is far to vague:

    Holding in the real-time controller?
    On the hard disk on Windows?
    While executing?

    Any specific problem you encountered?

    Check out Dirloader tool. Usually it helps.

    Fubini

  • Kuka software

    - Office Lite: Virtual robot controller. Used to simulate robot. Most accurate offline controller simulation apart from Office PC (Basically the same PC you have in your robot controller configured for offline use) and real controller with real robot attached to it. You can use Office Lite completely Independent from KUKA.SIM but can use it also together with KUKA.SIM. Office Lite runs internally the same Firmware as the real robot controller but modified to run outside the robot controller hosted on a windows system while the real controller uses a VxWorks operating system.

    - Kuka Sim: KUKA branded version of Visual Components. Used for process simulation. In part also supports without addition of optional Office Lite a simple robot simulation with lower timing precision.

    - Visual Components (is this now part of Kuka Sim?). The other way round.

    - Work Visual (What is this, why this strange name if it is used for Robot configuration). Robot setup tool. Many years ago this tool was designed to additionally do what now is done with KUKA.Sim. That is were "Visual" comes from. The name stuck.

    - KSS Kuka operating system (this is like a firmware or what, do we interact with it). The actual robot controller firmware. Consists of VxWorks part (real-time controller for robot) and Windows part (Teach Panel Smart-HMI to create robot programs).

    - KUKA User Tech (preprogrammed stuff for different applications?). Addon for end users to create their own inline forms. Inline forms are macros that combine low level KRL (Kuka Robot Programming Language) commands. Every KSS comes with a standard set of inline forms that can be extended by UserTech.

  • KUKA KR 240 R3200PA one axis not active

    A4 can not move (actually it is not even an axis for a 5 axis palettizer). You have only 5 axes. A1,A2,A3,A5,A6. The axes are indexed the same way as for a standard 6 axes kuka robot. A5 can only move axis specific if $PAL_MODE is not active. If $PAL_MODE is on A5 is calculated automatically from A2 and A3 position (A5 = 90° - A2 - A3 if I remember correctly) such that the flange stays parallel to the robroot x,y plane . It does not matter whether you move A2 or A3 or both simultaneously A5 is always controlled fitting to this condition.

    Kuka palletizing mode message - what is it, and how to recover? - KUKA Robot Forum - Robotforum - Support and discussion community for industrial robots and cobots (robot-forum.com)

    Tool konstant halten - KUKA Roboter - Roboterforum.de - die Industrieroboter und Cobot Community

  • Faulty motherboard on the computer

    One resaon is that the special KUKA Windows Embedded Software Image will not have the necessary drivers for custom boards and their components. It is not a standard windows image but one designed for the KUKA boards and Software including everything for Real-time control by VxWorks. Nothing else.

    A second reason is that hardware components on the board are selected by higher specification standards than standard private home computers. A standard board with cheaper components will probably not be able to keep up with real-time controlling of a robot. That is not what they are build and designed for.

    I know from the past that some people tried but never heard of a successful attempt. Also in this forum some users asked the same questions in the past.

    Fubini

  • How to limit axis 1 KUKA KRC2 ED5

    You can lookup $Axworkspace[] inside $machine.dat. Details can also be found in documentation and using the forum search.

    Post

    RE: Changing the Axis Limit to prevent collision

    Simply use forum search with keywords $WORKSPACE or $AX_WORKSPACE. You will find a lot of posts dealing with this.

    But beware $WORKSPACE/$AX_WORKSPACE is not allowed for human safety. If safe interaction with humans is required you need SafeOperation.

    In KSS 8.5.6 you find this on menu>configuration>miscellaneous

    Fubini
    Fubini
    November 11, 2021 at 6:42 AM
    Post

    RE: Workspaces

    STATE allows activation an deactivation of the workspace on the fly. E.g. inside your program.

    Signals are if I remember correctly predefined. I can not look it up right now but I think they were called $AX_WORKSPACESTATE1 or something quite similar. You need to assign a $OUT[x] channel to them. Could be defined either in STEU/$machine.dat or $custom.dat if not directly in R1/$machine.dat. At least one of these 3 files should be the one. Something quite in the back of my head tries to tell me…
    Fubini
    March 23, 2022 at 12:20 PM

    Fubini

  • KRC4 Compact without safety card

    Post

    RE: Kuka KSS15117 External safety stop2 and KSS15115 External safety stop1

    […]

    What model KRC and what version of KSS? I don't recognize XG11.3.

    This depends on what other options the KRC has installed. The standard safety port for hardwired safeties is X11 (with SafeOp adding X13 with more signals), but if your KRC was ordered with network safety (ProfiSafe, CIP Safe, etc), then the hardwired safety ports should not be present.

    There's also the situation where the robot was originally built with hardwired safety, but was altered to use network safety. In which case,…
    SkyeFire
    July 10, 2024 at 2:48 PM

  • KRC4 Compact without safety card

    There are many different versions of KRC4. What exactly do you mean by missing safety card. ESC, SIB, ...? At best provide article numbers. Or do you mean KRC4 is complete but you miss a profisafe or other bus card.still everything depends what type of KRC4 with what options in detail you have. What technology packages and software versions is also important. So please be a lot more specific on details.

    Fubini

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