Currently I have all my wires on the external of the arm, and when the robot turns around, the wires gets wrapped about the robot base,
i'm wondering if it's possible to have the wires enter the rear of the robot like all the kuka cables, instead of it just hanging.
Anything I need to be cautious about if I attempt this?
robot in question is a KR60
I have MxAutomation and GripperSpotTech install together, but when installing them, i encountered a weird issue.
If I installed the SpotTech package first, MXA will not install properly, it'll deploy, but ProConOS run (doesn't won't show in DiagnosticMonitor), so i can't send commands to MXA
BUT if I install MXA first, make sure ProConOS is running, then I can install SpotTech and both works just fine.
Is there any reason why this is happening? is there a compatibility list/install order list (so that I don't waste a whole day debugging package installs in the future)?
Since Kuka has worked on the machine a few times since it was delivered, I was always under the impression that they'd tell me if something was wrong, that's why I didn't do anything while it was under warranty.
I'll reach out to Kuka and see what they say; I've also noticed that if I run hours long programs on it, it won't be able to resume if I press pause half way thru...
I went through a long slow back and forth with Kuka who tried changing some servo gain settings
Could you provide more details on this process?
I saw on your other post you said :
The gain settings were found in xml files in ROBOTER\Config\User\Common\Mada\NGAxis
how do I know which value/how much to change?
Observation from your experience is that changing them is unlikely to fix the problem, but worth a try I guess, I don't exactly have tooling to machine parts, for funding to replace the assemblies.
Probably best that I reach out to Kuka; even tho their service has always been friendly, but in terms of professionalism it seems somewhat lacking, can't believe they're shipping robots with backlash... not exactly confident in them rn.
I'm wondering if it's normal for the KR6 R700 to have clicking noise when A4 to A6 axis is moved.
On my robot, the A4 clicking noise is quite noticeable, A5 A6 is more quite.
When the robot was delivered new from Kuka, it was already clicking, the engineers that did the setup didn't seem bothered by it, the following engineers that come to do repairs and upgrades also never commented on it, so I was under the impression that it's normal.
Recently I had a visitor to the lab told me that the clicking is abnormal?
They click whenever their direction changes, regardless of speed, clicking on A4 can be hear when I physically twist that axis (axis doesn't move, but i'll hear the click)
in term of movement, it seems OK, nothing major enough to cause concerns.
Attached are two videos of the clicking sound, one when A4 being twisted physically and another when running a program.
Hi all,
Is it possible to doable tool load determination in KRL?
I know it can be disabled in the tool calibration menu, but the program I'm using to generate src files hard codes tool data in the krl, so it's not read setting from the tool calibration menu.
(I'll add code sample when I'm back on my work computer)
I'm doing 3D printing with a kr6, tool+pallets weight roughly 4 kg, my movements are quite slow, 20mm/s.
As the pallets get used up the weight becomes less, up to 2 kg difference, and the controller gives underload warning, usually not an issue, but sometimes it'll stop the program, not sure why.
If I set weight to be less, it'll give overload error and stop outright.
Any suggestions? Thanks.
that clears things up, it's counted in years and not actual runtime.
My runtime is a few hundred hours at the most.
Would there be any issues if I disable/comment out the Maintenance in the config file?
I'm getting a message on the controller "minor electrical maintenance due" alongside other minor maintenances.
My question is how often should this be required?
the actual run time for my robot should be really low, but controller is often left turned on overnight/weekends.
This message causes the red light on the controller to flash, even after clearing the message.
Is it anything to be concerned about? Can I clear the message and stop the flashing red light?
Update, was able to port forward the controller after changing from KLI port to X47, had to completely reconfigure my router to match ip range and submask of X47, but it now all works fine.
It seems like KLI port has some kind of firewall where it filters some connection (ie: unable to rdp over KLI on KSS8.3.33). Not sure how it was able to differenciate a packet send locally vs thru the internet tho.
Update2:
What I did was I gave the router 192.168.0.100 as the gateway, and that works for port forwarding, but then the problem became when I reboot the controller, it would get stuck on initializing, my guess is that the controller saw the router as an internal component and sent it some packet/command, to which the router ignored and cause the controller to hang/wait
I later change the gateway to 192.168.1.1, which solved the reboot issue but stopped the port forwarding from working, since devices have to be on the 192.168.0.x subnet to communicate with the controller.
So currently it's a mess, locally everything works, since I configured my DHCP range on the router to 192.168.0.2-192.168.0.254
For remote connections, I've switched to a router that supports openVPN, so I'm going to test that.
I believe I'm connected directly to the ISP
I've gave external port 7000 to my remote desktop port forwarding and that worked, so I don't think there's anything wrong up to the router.
I'm not aware of any other configurations I need to do? Once the port forwarding it setup, shouldn't the router take care of everything? and the controller can just treat the connection the same as a local connection?
What I've done:
On the controller:
- Under Network configuration, add NAT:(Port:7000) tcp/udp
- copied and run KPV
On the router:
- Configured static public IP (A)
- Configured LAN IP (172.31.0.1 / 16)
- Configured DHCP (172.31.0.2 ~ 172.31.255.254)
- Reserved 172.31.1.147 with the KLI's MAC address
- Configure Virtual Servers/PortForwarding, map external port C to internal IP 172.31.1.147 internal port 7000 (all protocol)
My router is tp-link C7 v4, if that is of any importance
One interesting observation is that I don't see the controller IP 172.31.1.147 on my DCHP Client List, but when ping'ed from within the network, it responds and I can connect to it.
I've tried DMZ 172.31.1.147, but even then I couldn't connect to the controller using the public IP A
Yes, that's what I think too, KVP should just be like any other TCP/IP traffic.
I'm entering the public IP of the router and counting on the router to forward the traffic to 7000, I believe the router is doing its part, as I've also setup a remote desktop connection to another computer connected to the router, and that port forwarding works fine.
So I thought I'd ask here, since the problem seems to be the controller not picking up the packet for whatever reason. I'm not 100% sure tho, so if you have ideas on how to troubleshoot, I'd be happy to try them.
.
I did ask the IT department, they were not very helpful, basically told me anything I do is my own resposibility and they don't want a part of it in case something goes wrong.
This is a bizarre question, but as we are stuck in bizarre times known as COVID-19, I'd have to ask.
The situation is that I have a KRC4 (KSS8.3.33) with KUKAPROXYVAR (KPV) installed, I have a custom program that can send commands to KPV by setting the IP and port number.
The controller is plugged into a wifi router thru the KLI port. The router DHCP is configured for 172.31.0.2 - 172.31.255.254, and the controller is assigned 172.31.1.147. This works perfectly, I can access the controller when connected to that router and send commands to KPV thru port 7000.
Now i'm thinking of doing this over the internet, as some of my students are in quarantine, but I still want them to be able to work with the robot.
Yes I am aware of the risks involved, both physically and device security wise. I'll only connect the router to the internet when needed, the robot speed will be slow, and I'll be monitoring the robot with my hands on the stop button anytime the robot is being controlled. I've also cloned the entire SSD just in case...etc
I've tried port forwarding, opening a port on my router to 172.31.1.147:7000, but when I try to access the controller from another network, it doesn't work. Just wondering if anyone have done anything this bizarre and can give me some pointers.
I'm running a simple test code on a KR60 (8.3), but the src file won't copy into the R1 folder, it gives me a KSS01323 error
out Invalid specification
{Path} Invalid specification
Effect
No braking reaction
No interlock of motions or commands
The program i'm trying to run is as below
&ACCESS RVP
&REL 1
DEF Do()
;DAT DECL
DECL FRAME DefaultTool
DECL FRAME DefaultFrame
DECL REAL DefaultSpeed
DECL REAL DefaultZone
;INI
DefaultTool = {FRAME: X 0,Y 0,Z 0,A 0,B 0,C 0}
DefaultFrame = {FRAME: X 0,Y 0,Z 0,A 0,B 0,C 0}
DefaultSpeed = 0.1
DefaultZone = 0
BAS (#INITMOV,0)
$ADVANCE=5
$APO.CPTP=100
$TOOL=DefaultTool
$LOAD.M=0
$LOAD.CM={X 0,Y 0,Z 0,A 0,B 0,C 0}
$BASE=DefaultFrame
;START PROG
PTP {A1 30.2184,A2 -88.5401,A3 95.1721,A4 -101.2155,A5 30.8703,A6 13.008, E1 0, E2 0}
$OUT[36] = FALSE
$VEL.CP = DefaultSpeed
$VEL.ORI1 = 180
$VEL.ORI2 = 180
LIN {X 1012.401,Y 80.21,Z 1539.471,A 90,B 0,C 90, E1 0, E2 0}
$OUT[36] = TRUE
LIN {X 1009.455,Y 1066.391,Z 454.152,A 90,B 0,C 90, E1 0, E2 0}
$OUT[36] = FALSE
ENDIf I add approximation to the movement, it'll work fine.
can someone tell me what the issue is?
thanks
Hi All,
Recently I'm trying to learn more about KRL so I can do more advanced stuff with the robot.
Recently I became aware of the TRIGGER command, and it seems to work better than the CONTINUE command in every situation I've tested.
So I'm wondering when and why we would choose to use CONTINUE over TRIGGER?
Or is CONTINUE some kind of legacy code that's inferrior to TRIGGER?
thanks.
Hi, sorry for the late reply, I've just got time on the roboot to test TRIGGER, and it is indeed what I want.
THANKS!
Hi,
I'm wondering if it's possible to set the digital output while the robot is moving?
&ACCESS RVP
&REL 1
DEF ()
;FOLD DAT DECL
DECL FRAME DefaultTool
DECL FRAME DefaultFrame
DECL REAL Speed000
DECL REAL Zone000
DefaultTool={FRAME: X 0,Y 0,Z 0,A 0,B 0,C 0}
DefaultFrame={FRAME: X 0,Y 0,Z 0,A 0,B 0,C 0}
Speed000= 2
Zone000= 2
;ENDFOLD
;FOLD INI
BAS (#INITMOV,0)
$ADVANCE=5
$APO.CPTP=100
$APO.CVEL= 75
$TOOL=DefaultTool
$LOAD.M=0
$LOAD.CM={X 0,Y 0,Z 0,A 0,B 0,C 0}
$BASE=DefaultFrame
;ENDFOLD
$APO.CDIS=Zone000
PTP {A1 90,A2 -90,A3 90,A4 0,A5 0,A6 0, E1 0, E2 0} C_PTP
BAS(#VEL_PTP, 100)
$VEL_AXIS[1] = 61.099
PTP {A1 22.5,A2 -90,A3 90,A4 0,A5 0,A6 0, E1 0, E2 0} C_PTP
PTP {A1 18,A2 -90,A3 90,A4 0,A5 0,A6 0, E1 0, E2 0} C_PTP
PTP {A1 13.5,A2 -90,A3 90,A4 0,A5 0,A6 0, E1 0, E2 0} C_PTP
PTP {A1 9,A2 -90,A3 90,A4 0,A5 0,A6 0, E1 0, E2 0} C_PTP
PTP {A1 4.5,A2 -90,A3 90,A4 0,A5 0,A6 0, E1 0, E2 0} C_PTP
PTP {A1 0,A2 -90,A3 90,A4 0,A5 0,A6 0, E1 0, E2 0} C_PTP
CONTINUE
PULSE($OUT[27],TRUE,0.50)
PTP {A1 -4.5,A2 -90,A3 90,A4 0,A5 0,A6 0, E1 0, E2 0} C_PTP
PTP {A1 -9,A2 -90,A3 90,A4 0,A5 0,A6 0, E1 0, E2 0} C_PTP
PTP {A1 -13.5,A2 -90,A3 90,A4 0,A5 0,A6 0, E1 0, E2 0} C_PTP
PTP {A1 -18,A2 -90,A3 90,A4 0,A5 0,A6 0, E1 0, E2 0} C_PTP
PTP {A1 -22.5,A2 -90,A3 90,A4 0,A5 0,A6 0, E1 0, E2 0} C_PTP
PTP {A1 -27,A2 -90,A3 90,A4 0,A5 0,A6 0, E1 0, E2 0} C_PTP
PTP {A1 -31.5,A2 -90,A3 90,A4 0,A5 0,A6 0, E1 0, E2 0} C_PTP
ENDI tried to put CONTINUE with the command PULSE($OUT[27],TRUE,0.50), but the robots still pauses slightly.
You have 2 ways to set up remote connection via KLI interface:
- Use 3-rd party VNC or kuka option-Remotesupportview;
-Upgrate your system to KSS 8.5;
Any free 3rd party VNC suggestions?
I see that the op of this thread said RealVNC doesn't work.
Then someones said UltraVNC works, but on a later post someone said it doesn't work.
And if a VNC server is running in the background, would this impact the controller in anyway? ie slowdowns?
regarding KSS 8.5, previously Mackavie said they got RDP working on 8.3.9, so in theory 8.3 also supports RDP over KLI?
...I have successfully connected with RDP on a single KRC4 v8.3.9 on a network using the KLI interface......
...configure your IP address of Network(Same range : IP 192.168.0.100,Subnet:255.255.255).Be careful and enjoy it!!
My subnet is 255.255.0.0 instead, but yea, this totally works thanks!
.
UPDATE:
Previously I have folder sharing set up wirelessly over KLI (KRC4 share folder wirelessly)
switching over to port X47, the router DHCP server has to be limited to 192.168.0.2~192.168.0.254
since anything outside of 192.168.0.X would not be in the same IP range, therefore cannot communicate with the controller.
... via X47 port of CIB board (Robot IP: 192.168.0.1 and no need any settings in robot side) .
so is there any settings you need to set on the computer side?
Just tried X47 and X43, neither of them worked for me.
