Not sure if it changed, but with KSS 8.5 in AUT mode you can use motion step, but not single step.
Posts by Cwany
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Would you consider disabling T2? That way you can either run the robot in T1, AUT, or EXT.
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Did you change any safety configurations? Since you are able to move the robot:
1. Is the cable plugged in to X53
2. Is X53 internally not accidently disconnected
3. See if you get any voltage from X53
4. If I recall, sometimes you have to check off a box that says something with "contactors" in it.
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Deploy the project to the controller. Yes, to deploy you can go Extras>Deploy, or on the top bar to the left of the question mark, there is the Deploy shortcut. If you made changes on the controller that are not in the project, then you may loose them,
I prefer to always import from the controller, save, save a new version, make changes, then deploy to the controller.
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Can it be done one after another? (i.e. can it do the left part then the right part, then wait for cycle start over) More details would be nice.
From the little details, it seems to be a simple series of if (else) statements.
If leftPartPresent then
leftPart()
if rightPartPresent then
rightPart()
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X76, X79.1, X710 and the air are inside the Energy Supply, They are meant to pass whatever is needed for the tool at the flange. If you look at the A3, or the flange, you should see the same types of connections, (except they will most likely be female not male. Therefore, you should not need to worry about these to get the robot running, unless a program is looking for some feedback from the tool (but that would be put in by the previous programmer).
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Which version of Workbench/OS?
Are you using Windows 10 on your PC?
I have had a few issues with Sunrise.Workbench not running correctly when it was not installed properly. From my experience, a simple mistake made the whole software crush. e.g.:
1. When installing, make sure the path is short. Also keep the names of the options short.
2. Install as administrator
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1. The proper way to ensure you get the correct information is go to KUKA Xpert. It is free to register if you are not yet registered. There, you can filter more specifically what you are looking for. i.e. Robot-Heavy-duty class-KR Fortec-... and then below select Documentation and you will find the correct document for the correct robot you have.
Keep in mind that KR120 and KR360 are different payload classes of robots so might have different installation details.
2. Refer to the documentation section of this forum as it already has a lot of documents available.
3. It is as easy as google KR 360 manual. (personally least favorable)
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You can find further explanation of the X11 pinout information in the KRC4 compact manual.
To give a brief description, to wire an E-Stop (dual channel), it is pin 2 (channel A) channel input, and you can take pin 1 (test output A) pulsed voltage. Then you will take pin 11 (channel B) channel input, and you can take pin 10 (test output B) pulsed voltage. (i.e. Pin 1 ----Estop Channel A ---- Pin 2 ; Pin 10 ---- Estop Channel B --- Pin 11).
For operator safety, you will look for pins which are for the Operator Safety.
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I am still trying to visual what you are exactly planning to do. Attach a picture of your controller, to see exactly which options you have.
1. On a KR3, anything wired to the wrist on X96 simply is wired back down to X76 at the base. Which can be wired to any device, i.e. PLC, KRC
2. Are you trying to send an output from the robot controller that is wired to an input card of the PLC?
3. If you want to control, e.g. a pilot light with the robot, either purchase the X12 option from KUKA, or purchase a module that can communicate via EtherCAT to the robot controller, You may then wire the pilot light into that controller.
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X11 is for safety interface. It is pre-mapped.
Are you trying to wire physical actuators? Or are you trying to connect to a PLC via a fieldbus?
For physical Digital IO, it depends on the controller. You will see X12 (on the physical controller), or if you do not have aX12, and have a standard KRC4, you might just have the Beckhoff internally. Then it depends on what configuration of Beckhoff you have internally.
In your WorkVisual project, under KUKA Extension Bus, you should see a EK1100 with cards underneath. Then, in IO Mapping, you can select Digital Inputs in one window, and the Beckhoff card in the second window (under Fieldbusses tab). From there, you can map your IO.
This is the same method to mapping any other device.
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Maybe they needed to drain oil after they have damaged it?
No oil should be leaking from that location. I would inspect the robot. (maybe have a KUKA tech take a look) You may have a no oil in the robot, and you will not see problems right away, but rather in the future.
I highly suggest doing a PM service on it, to ensure it is good to be ran. (oil levels are ok, belts tensions are ok, etc.)
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Hello,
Did you check the voltage of the batteries? They should be around 27V if I recall correctly.