Posts by kokkes

Hi to everyone,

We are working with a KUKA KR30-3 Robot (system software 8.3 version, KRC4 standart, Profinet 3.3 version) including the SafeOperation package 3.4 version.

For our application, we have an end-effector and a number of taught points, where the robot goes and does simple pick & place operations.

Due to operator faults, sometimes the end-effector has a small collision, causing a slight tilt and as a result the robot is not able to firmly grasp and place the parts.

For the moment, the only way that we are able to solve the issue is by going to the already taught points and do a touch up with a new point.

Unfortunately, due to the geometry of the end-effector and the availabily of experience of the operators, it is not possible to define a new tool frame and simply modify the previous one.

So we would like to create a function, were we would be able to:

1. create a fixed point where the gripper can be manually moved by jogging the robot - visual marking is used to get a good accuracy

2. after collision, move the crashed end-effector to the same point as in 1. and align the visual marks,

3. compare the pose without crashing (initial) with the pose of bullet 2. (actual position)

4. calculate the difference and update the tool frame data

We would appriciate any thoughts on the validity of the approach.

Any advice would be more than welcome.

Thanks!

And the Operator safety as well!

Hi to everyone,

We are working with two KUKA Robots (system software 8.3 version, KRC4 standart, Profinet 3.3 version) including the SafeOperation package 3.4 version.

At the door of the cell, we have installed a safety switch that is connected in parallel with the safety circuit of the cell (including both robots as well).

Thus, when the door is open we are in an emergency state and nothing can work/move.

The target would be to be able to jog the robot (in T1,T2 mode) when the cell door is open and all the devices in emergency state.

In addition, when the external emergancy pins are used on X11 the robot is in emergency stop as well and if we use the operator safety pins the robot does work in T1 but does not stop with the e-stop buttons around the cell.

Thus we would like to use as input to the safety plc the operation mode of the robot (T1, T2, AUTO, EXTERNAL)

Is there a safety certified way that we could achieve that?

Thanks!

Thanks a lot for the answer.

The switch seems to be unmanaged and there is nothing that we can change or configure on it.

We will try with another switch and see if the probled is resolved.

Hi to everyone,

We are working with two KUKA Robots (system software 8.3 version) equipped with the ATI F/T Sensor Omega160.

The KUKA software for the force control we are using is the KUKA.ForceControl3.1.

When we connect the F/T cable directly to the KLI port, the F/T application is excecuted perfectly fine (RSI connect).

A Phoenix Contact switch (FL SWITCH SFNB 5TX) has been installed and therefore we have connected the FT cable to it and an ethernet cable from the switch to the KLI port.

The first time we power on the robots, we are not able to achieve a connection with the FT sensor (Please see attached figure), getting the "RSI_CREATE: Connect error FTD6_SEN" error.

Thus and in order to resolve this issue, we change the ethernet cables directly to KLI (thus loosing connection with a PLC), we do a Cold Start with reload files and the FT sensor is reconnected.

After we achieve a connection for the first time we can connect the cables to the switch and from there it works fine.

Is there a better way to achieve a connection directly from the start?

Thanks in advance

Thank you for the updates!

They are much appreciated

Thanks SkyeFire for sharing these information!

I will give it a look and try to figure it out.

Thanks a lot

Thanks for the prompt response, but it seems that the $in_home signals are only 5! I need approximately 200

Hello to everyone,

I have been working with KUKA robots for the past 6 months and i must admit that the forum has helped me a lot on a number of issues. Thank you for this initiative!

The KUKA system software i have been working with is the 8.3 version.

For our application, we have a number of subprograms (around 200) that will be executed in External mode and controlled through a PLC and we would like to check before each subprogram execution, that the robot is in a know and well defined position (preferably check the joint values; suggestions on position values are welcome) and more specifically in the last point of the previously executed subprogram.

Our thinking for doing this is to create another subprogram, where the desired axis joint values (A1 to A6) will be manually entered as an input and the subprogram will make a comparison of current joint values with the desired ones (tolerance of +-0.2 degrees per axis). In case there is a deviation greater of 0.2 degrees in each one of the axis, a message will be displayed to the operator through the HMI.

In attachment you may find the subprogram we have been working on.

Is there another way to deal with this issue?

How can we acquire the actual joint values from the robot that rests on a specific position and compare them with the desired ones?

Any help or advise on how to resolve this issue is more than welcome and appreciated.

Thank you in advance,

Kostas