Thank you so much SF for that explanation, I got it. Man this Forum Rocks!
Posts by mcasa0802
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Thanks guys.
If not monitoring in the sps continuously how would I monitor those Alarm Stop or PRO_Move if the programming that is running is busy doing other motion and reading points.
I thought this would have to be done in spa to have it monitor continuously in the background.
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The application is for a polishing tool on the EOAT, rotary motor that I MUST stop if the robot stops moving. If Robot Errors, Alarms, Motion stops all axis, then turn on Digital Output. Need to monitor continuously so was thinking of placing this code in the sps.
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I am trying to turn on an output if an Alarm exists in the KUKA Robot. So in normal operation robot running ok, if an Alarm happens i need to turn on a physical output on the onboard beckhoff output card. Is there a variable that i can monitor in the sps program like $Alarm or something like this?
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One of my customers had a power outage and the Kuka Robot KRC4 when powered back up had several errors, mostly machine data errors, like Robot Name, and others. I originally installed this system several years back and the in house Engineers have made several changes and also added some programs to the system. Of course those Engineers never made any back ups and are now no longer with the company so they called me to get this going again. My question is if I have a backup copy with good machine and config data from my original install and grabbed a copy of the corrupted krc4 could I use my old copy of the machine and config and just use their running programs to create a functional program again?
I know I could probably work thru all the errors and eventually get it back but looking for a quick solution.
I loaded my backup of the last time I was there and it worked right away but of course all the source programs are different and several new ones added but it went into EXT Auto without any errors right away.
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Yeah I have been bypassing the X66 Internal Cable I am plugged in directly to the KLI Port, lights are flashing on both sides.
I have 172.31.1.147 (255.255.255.0) and laptop at .245
I checked all three you mention above and all do show 172.31.1.147.
Cant seem to ping it, tried a different laptop, different cable, I have 2 new ones I just shipped to this customer and everything works fine on those I can transfer files, WoV connecting OK.
The first one I delivered the customer has changed the Windows IP Addresses, screwed it up a bit then took the USB Image I shipped from KUKA and restored Drives D & C but still need WoV to get it working but cannot connect to the damn KLI. Never had any issues with connecting to the KLI.
Could they have messed up the motherboard?
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I am trying to communicate to a KRC4 8.5.5 thru X66 KLI Port and cannot ping the controller.
My customer has used the Image USB and restored the C and D drives several times, not sure what they did but I want to re-install the WoV project that I had when I
shipped the robot originally.
The problem is I cannot even communicate to the KLI Port.
What can I try??
I do have all the IP Addresses matching from KRC4 to laptop.
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Thanks guys.
The external axis is a good idea.
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Was wondering if it was possible for a KUKA Robot Arm using a KRC4 controller to continuously rotate Axis 6 while programming the movement of Linear moves using the other Joints? Basically I need to rotate Joint 6 and have the Robot bring a Piece in and out in a Linear move. I do know how to set the 6th Axis to continuous motion in the machine.dat file $AXIS_TYPE[6]=5, but so far when I move it will rotate Axis 6 then when it is done rotating it will make the Linear move.
I want to make the Linear Move while AXIS 6 is continuously rotating.
Is this Possible?
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Thanks guys!
As soon as I downloaded 6.0.15 Everything was Ok and no errors.
Problem with the Download Page on KUKA Website is that if you click on the 1st Link it gives you the downloads for V3, V4, V5, V6, and the one for V6 is 6.0.5, I thought this would be the latest version.
If you continue to scroll down in the page there is a Version 6 Download and that one is 6.0.15.
If we follow the numbers I would think that v6.0.5 is later than v6.0.15, anyways, it works now.
Thanks,
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I just received a new KRC4 NA with KR22 R1610-2 and trying to set it up for first time out of the box.
KSS Version is 8.6.6
Using Wov 6.0.5 Build0492 (Latest @ of 4/2/21)
Changed the IP Address KLI
Was able to Search for the Project in WoV and Activate it.
Errors:
12:16:43 PM Error in DTM KUKA Controller Bus (KCB): Project file not supported (version: 30, expected: 20).
12:16:45 PM Error in DTM KUKA System Bus (SYS-X48): Project file not supported (version: 30, expected: 20).
12:16:45 PM Error in DTM KUKA Extension Bus (SYS-X44): Project file not supported (version: 30, expected: 20).
1:05:47 PM MKS_2: Failed to build file "Config:\User\Common\ECat_SYS_X44.xml".
I am thinking that I need newer DTM Catalog files for these? If so where do I get them.
I Went into DTM Management without a project open and found all the DTM's but they were already all on the right side, nothing to add new.
Thanks,
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Thanks for the reply.
When you say cables, are you talking about external cables wired or plumbed to the End of Arm Tool? OR
Are talking about internal cables, wires? That was my concern is that if I rotate Axis 6 forever will it damage anything inside?
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I wanted to know if on a Kuka Robot (Currently using KR22), Axis 6 could be made to rotate in either direction continuously without any limits? I need to rotate A6(C) 10 rotations in the same direction without hitting a soft limit, is this possible?
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Thanks Panic Mode, exactly what I was looking for, I was not aware of the "Block Selection" it was the part I was not doing, tried it and it worked perfectly.
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If I need to touch up a point Say P[30] in a Program, I want to just move the Robot quickly to P[30] without manually having to move individual axis to get there. How would I just move the robot to the coordinates in P[30] and the correct Tool/Frame of course. I dont want to run thru the program because it has alot of external IO Logic, monitoring sensors, etc. so running the program to eventually get to P[30] will get caught in Loops. I would like to just put the cursor on P[30] and move it there. Is this possible?
Similar in Fanuc PR[], Position Registers I can move there or Denso I can go to the Taught Point and Move there.
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I am trying to have the robot make a movement of about 15 inches in LIN but I cannot get it to go any faster than 0.2 ( I am monitoring the VEL_ACT during the move).
I have tried adding this just before the LIN move, but no matter what I do It just wont speed up.
$VEL.CP=5 ;5 m/s
$APO.CVEL=100 ;%
I change it to PTP and then it goes fast based on the $OV_PRO, BUT cannot get the speed to change in LIN.
What am I missing and why cant I get LIN to move as fast as PTP in just a straight line?
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What does it mean when a Motion has 2 C_DIS after a motion type, like below? I can find information in the manual on what C_DIS means as far as approximation but this particular program I am looking at has C_DIS C_DIS on every move.
;FOLD LIN s1p1 CONT Vel=2 m/s CPDAT1 Tool[1]:greifer Base[2]:S_S1;%{PE}%R 8.3.22,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:s1p1, 3:C_DIS C_DIS, 5:2, 7:CPDAT1
$BWDSTART=FALSE
LDAT_ACT=LCPDAT1
FDAT_ACT=Fs1p1
BAS(#CP_PARAMS,2)
LIN Xs1p1 C_DIS C_DIS
;ENDFOLD
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Forgot to ask, what is the Enabling Switch Wired Mean? I thought this was thru software.
Where is the Physical Enabling Switch ? Are you talking about the enabling switch on the Teach Pendant?
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You were correct on the Startup Mode, thanks for that as it was driving me crazy. Unplugged X11 and was able to Jog in Startup Mode.
X11 has External E-Stop Wired to a Safety Relay (P1 --> P2; P19 --> P20) And also have Safety Gate wired to Doors (P3 --> P4; P21-->P22) Everything else is jumpered out.
Warning Messages:
1. Battery defective -backup not possible
2. Boot failed for module: PNIODriver
3. General Motion Enable
Is Safey Config Valid and Activated? I'd say Yes but not 100% sure how I can tell without any errors or indications that tell me otherwise.
Is Drive Configuration Valid? Again I think so, I grabbed the project from the KRC4 controller and began working on it, haven't created anything from scratch, as far as configuration goes.
Waggon Driver loaded? Dont know what this is, first time i hear this term when working on KUKA stuff
Thanks for help.
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I am working on a KRC4 KSS v8.2.18 (working on upgrading to 8.3, waiting on quote from KUKA), I have worked thru a bunch of errors and now only have a few warnings (3 of them).
I cannot seem to turn on the drives, I have checked the X11 wiring and it all seems to be OK. I am not sure if there is an external signal that turns on the Drives but in the newer controllers I never turn them on with signals all thru software.
I am just trying to jog the robot around, but not even "Startup mode" is active in EXPERT. I thought it was because of X11 but I cant seem to activate this mode either.
What am i missing on just being able to turn on the drives?
Operator Safety is Green.
Enabling Switch is Green.
Motion Enable from Safety is Green
Drives Enable from Safety is Green.
Drives is "I" instead of "O", But never turns Green.