If i_nToolID is a input it is standard behavior. Reading inputs triggers an advance run stop. As mentioned before you can use CONTINUE to avoid this. But beware the input then is evaluated by the advance run.
Fubini
If i_nToolID is a input it is standard behavior. Reading inputs triggers an advance run stop. As mentioned before you can use CONTINUE to avoid this. But beware the input then is evaluated by the advance run.
Fubini
Lookup $ori_type=#joint.
Fubini
For the KUKA part automatic external interface is described in system integrators manual. This can be downloaded from KUKA webportal, see forum Read First.
Fubini
What does the generated robot program look like? Is the external kinematic integrated and correctly measured in on the robot controller? Does it behave correctly without RoboDK? If so is the correct moving base activated on robot side? ...
If you want hints we had the same discussions in the past. At best use the forum search.
Fubini
Minimize the KUKA HMI and press with mouse right button onto the windows desktop.
Fubini
Btw. Software limit switches are always turn issues. If it is a status Problem you would get a workspace exceeded/envelope error message.
Fubini
Fubini
Network share is nothing special in KUKA. It is the same as if connecting any two windows PCs not from KUKA. So maybe looking in Windows forums might also be a good place to look for a solution.
Fubini
Is the controller restarted? Then check whether the shutdown is done correctly and the Accu's are working correctly. Without the necessary buffering time the coordinates can not be written back into the Dat file first inside the ramdisk and later onto the harddisk.
Fubini
You can not change the flange orientation in pal_mode. This has been discussed in the past. Just use foroum search with keyword pal_mode.
Pal_mode mode on a 5 axis palletizer is the same as on a 4 axis palletizing robot where the mechanical construction with a parallelogram enforces flange to be parallel to the robots base. This enforced condition is on axis level and not in Cartesian space. A5 is calculted from a2 and a3 to achieve the parrallelity. If you need a different oriention mount the tool with the required angle.
Fubini
Sure. But no easy way that I am aware of. Protocols inside the KUKA controllers are KUKA specific but motors are usually from Siemens. If you are willing spend a lot of time in reinventing everything yourself which I would not recommend you could essentially directly control the motors yourself.
Fubini
So you are saying that buying the older machine is not a good idea at all?
Exactly I would not.
But ultimately its your decision. I remember some older threads in this forum where people did exactly this: Bought an old VKRC for milling because those are the cheapest ones available and then coming to this forum and complaining the system is not what they expected. Maybe use the forum search to get an idea of the problems that came in these threads up in the past.
No offense CNC machines and robots are totally different beasts. When executing jobs the are totally different. Robots suffer from other effects than CNC machines due to the different mechanical construction. They are a lot more prone the effects like elasticity/singularities/backlash. Effects you would have to learn to handle in your process. These effects get worse over the lifecycle of a robot.
Fubini
A richer set of commands? Like what? Faster or more accurate movements?
Yes. For example spline was created later on. Spline motion usually is faster and has a higher precision in path guided motions.
Also VKRCs usually are not equipped with absolute accuracy because VW never uses and therefore never orders it from KUKA. For KRC4 this might be available and increases robot accuracy. So you should check whether the system you are buying has the absolute accuracy package which is no general package that can be installed on any robot but is a set of specially defined machine data exactly made for a specific robot (a single serial number) to make it high precision. Btw. the HA in the robot name states High Accuracy and usually then comes with the absolute accuracy package. Also some other mechanical parts of HA robots are chosen special to allow this higher accuracy.
Also the programming interface for VKRC and KRC are very different. Even though in the end both systems run with KRL code. But getting this externally generated KRL code to run on a VKRC is more difficult than on a KRC. I can not say for sure whether Grasshopper even supports VKRC. Interfaces of VKRC are very much pimped to exactly fit into VW plants and VW way of thinking. In general KRC is a more open and as most people say simpler to handle and flexible system. Even though you plan not to do much on the robot side without touching and at least having a small grasp of the robot system will not work.
Also no matter what machine you have eventually something will get damaged. Spare parts for KRC4 are still available. For VKRC2 it might get difficult to get them and then they also are already old and might not run as long as well.
Fubini
Definitly do not take the vkrc2. Its outdated and additionally a special version for VW that is quite different than a standard krc. People who can support with vkrc is quite limited compared to standard krc. Also machines coming from VW are usually pretty worn out. Nothing you would want for milling.
Fubini
I understand that, but they are not declared in MADA. Only in $OPERATE.dat
Sure they can not be found somewhere. They describe system internal states of the mastering test. Just assign the respective value to a signal our output of your choice. Something along the line of (not syntax checked)
Replace $OUT with a signal of your choice if needed. There is no need to declare a signal with name
anywhere.
Fubini
The first issue usually happens if files are stored with a wrong encoding by some sort of editor. They need to have a ascii encoding but whoever is editing is storing them in e g. some windows codepage. Usually it simply helps when editing such files to use a quality editor like notepad++ and not notepad of windows. To fix the issue you can restore the file from your last valid backup.
If local customer support of KUKA does not help you can always contact global customer support of the kuka headquarter. How to contact them can be found on the kuka web page.
Fubini
The first issue sounds like the mainboard battery is flat and needs to be replaced. In your case of a Denso robot with a kuka controller might also be the battery in the robots root.
Anyway you should talk to KUKA to upgrade your controller to the newest 7.1 version. 7.0 was discontinued due to various reasons by KUKA and needs to be replaced by the newer stable 7.1.
Also getting an account on kuka xpert, see forum read first might help with the maintenance question. You should find additional info in there.
Fubini
How about the solution suggested here (Post #3):
Re: Notepad++ KRL Plugin by HenB3D V1
When a software reaches end of life does not automatically mean legally the licence conditions become invalid and the software becomes free and public domain for everyone! I would be careful here. If one talks to KUKA and they explicitly allow you to do the upgrade fine. Otherwise be careful. That is all I am saying.