Posts by jesusvaricap

i solve partial with the next:

im not using arctech digital technology just KRL to weld

DEF test_2( )
INI
PTP HOME2 Vel=30 % DEFAULT
PTP P1 Vel=30 % PDAT1 Tool[1]:antorcha Base[0]
PTP P3 Vel=30 % PDAT2 Tool[1]:antorcha Base[0]
LIN P2 Vel=0.05 m/s CPDAT1 Tool[1]:antorcha Base[0]
welding_on()
FOR weav_=1 to 25
$VEL.CP=0.04
$VEL_EXTAX[2]=1
;$APO.CDIS=5
LIN_REL {y -2.5 ,E2 -5.0} C_DIS
LIN_REL {y 5.0,E2 -5.0} C_DIS
LIN_REL {y -2.5 ,E2 -5.0} C_DIS
ENDFOR
OUT 1 'arc on' State=FALSE
PTP P4 Vel=30 % PDAT3 Tool[1]:antorcha Base[0]
PTP HOME2 Vel=30 % DEFAULT
END

welding_on () external program with outputs to start to weld , opetation mode , number job etc

OUT 2 'robot ready' State=TRUE

on sps , my welder requires this signal

on $VEL_EXTAX[2]=1 only was possible int values not floating , i think depends of versions

i remember before use floating values like 0.26

also on the line before to end the FOR

LIN_REL {y -2.5 ,E2 -5.0} C_DIS

i see the positioner stop a little and then constantly movements

why happend this? im using C_DIS , each the cycle start i see a little pause on the posionert plate

what suggest me to start to weld again in the in case error ? tip damaged , lack gas , lack wire , errror etc

if im welding and at the 30% of welding occurs an error , how to start from specific point ?
maybe interrupts , but how i declare ?

with arctech in case errors occurs i press start inverse and then start positve and start to weld , but now im usisg cycle FOR

KRC2 Ed05 KSS 5.5.16

arctech digital V2.3.3

KR2210L180_2 S C2 FLR ZH210

KL 1500

custom positioner with motor siemens

Hello ,

I have a system to weld round pieces (2m diameter) and 6 m length

i need to use weaving while positioner its rotating and regulate the speed of welding

i can regulate speed of welding and rotating moving the speed of welding because is used BASE 17 for kinematics

Ptp   TOOL [1][base 17 ]
Ptp   TOOL [1][base 17 ]
Lin   TOOL [1][base 17 ]
Lin   TOOL [1][base 17 ]
arc on lin   TOOL [1][base 17 ]
arc switch circ   TOOL [1][base 17 ]
arc switch circ   TOOL [1][base 17 ]
arc switch circ   TOOL [1][base 17 ]
arc switch circ   TOOL [1][base 17 ]
arc off circ      TOOL [1][base 17 ]

the arc switch circ , arc off circ have a little movements on the torch to avoid problem of same point equal to before programated, also between PI , PF i i rotate the positioner.

So , this before mentioned work correctly to weld round pieces with the "fixed" torch and rotating round piece, i increase or decrease speed of welding as i need.

This before mentioned is the solution for older post :

Thread

regulate speed of external axis while i'm using arctech20

i'm trying to move an external axis at the same time the robot its welding
it works , but i cant regulate the speed of external axis


the robot is a KR16 with archtech 20 and one axis external vertical

i generate a circle using the next points:

Ptp
Ptp
Lin
Lin
arc on lin
arc switch circ
arc switch circ
arc switch circ
arc switch circ
arc off lin
all these points is sinchronized joint at the external axis , but the speed in external axis always is the same , even i modified welding speed ,…

jesusvaricap

Nov 1st 2013

in the past i wasnt using BASE 17 , for kinematics , if i use base 1 to 16 not work, not its possible to regulate speed welding

Now the problem its: i need weaving , while i rotate the positioner and the speed need regulated as the process required

i need a zig zag welding while the positioner its rotating to weld complete cincunferency

its very important the movement constantly , if its not constantly the seam its thin or width.

i see this 2 posts:

Post

Welding application: Robot shifting while weaving

Hi everybody,

I'm commissioning a KR8 R2010-2 with a DKP-400-V1 controlled by a KR C4 (KSS 8.6) including ArcTechBasic 3.3, ArcTechAdvanced 3.3, TouchSense 3.2, ArcSense 3.3 (and RSI 4.1).

As part of the commissioning, we are providing 5 recipes including a pipe to pipe (butt joint with 5mm gap between the pipes).
The fixture is installed on the positioner, with the positioner at 90deg and rotating 360deg while the robot is "staying in position" (see attached zip file containing images, video and…

SBDP_4.0

Jan 5th 2022

Thread

KRC2 - Arc tech weave with a welding positioner

Hi,

I am using a KRC2 ED5, Kuka KR16 welding robot to weld flanges onto pipes.
The pipe is mounted on a rotary table , driven with a kuka sevro motor configured as a 7th axis.
The arc tech software will happily weld in a mechanical weave pattern whilst the welding torch is moving between two positions , but in this application the 7th axis rotates the pipe and the welding torch stays in one fixed position.

My question is how to enable the weave patterns in the direction of the rotating weld seam…

Pump Parts

Mar 15th 2021

maybe $circ_type=#PATH its an option

I need advices to sincronize the weaving , rotation positioner , regulate speed welding.

attached my machine data

BR.

Of course I take a new HDD , configure the bios to first run on CD , install winxpe correctly, then kss , i choose the trafoname according the label, installation kss successful, restart, and the kss not run correctly, traffic lights of cross3 yellow or red

Problem Solved.

a friend send me manual of Saferobot.

the procedure its the next:

1. Select the menu sequence Setup > Service > Safe operation > Configuration.

The configuration window is opened. The XML data and RDC data are displayed.

Safety parameters that differ are indicated in red.

2. Press the ID softkey.

3. Enter the ID for the robot’s safety data.

4. Press Enter and confirm the request for confirmation with OK. The data

are accepted.

just left 1 question , about installing operating system winXPe and KSS on new hdd was not possible.

its neccesary special config to installing operating system winXPe and KSS on new hdd?

i try many versions of KSS and not run correctly

also this post can be useful:

Thread

Take piece to punch and stack

Hello

KRC2 KSS 5.2.14 KR2210_L150

I have a project to take a disk metal with magnetic tool punch the disk and stack the punched disk


so i need to use 2 cicles "FOR"
one cicle for take the disk and heigth Z decreasing dependig of the thickess of the disk
and other cicle "FOR" increase Z height with the finished disk

reading older post i thik the next code can be useful



(Code, 13 lines)


once finished 50 disk , make a Buzzer sound to take the disk with forklif


any suggetions to the project ?


Thanks

jesusvaricap

Nov 4th 2022

many thanks for your advices.

its new for me all stuffs about saferobot , my version is KUKA.SafeRobot=V2.1.4 i only found here .pdf of 5 sheets with the wiring for X40

in the past i had similar necessity

Thread

Palletizing block with different heights

Hello ,



KRC1 Vkr200/2
kss 4.1.14 pp02

My application its the next :

stack blocks with different heights max tolerance +/-3cm
first stack block on vertical position , next block horizontal position , i repeat this operation for 12 stacks.

i fabricate the gripper , with sensors necessary to do it , and reconfigured 16 I/O digital via DeviceNet

As the blocks has different heights, and need to be released to 5 mm up ( for the characteristics of the block and characteristics for the gripper )

My idea its…

jesusvaricap

Jan 12th 2017

the users of this forum help me , i do some changes to the program and work correctly.

Take a new HDD , re install windows XP and kss

I haven't X11, i only have jumpered directly from the CI3 board on X22 attached pictures

It's necessary jumper some cables to add external axis?

Or what it's necessary to do for add external axis?

Thanks

No , any messages about safety configuration

i do the wiring X40 according the post Manuals, Software and Tools for KUKA Robots

modify mada , cold start , and the next messages appears :

436 Short circuit braking request by RDC 1

441 Invalid configuration on SafeRDW

ok , checking my wiring of X40 C4 and C6 arent jumpered with A9,A11,B2 also C3 and C5 arent jumpered with A10,A12,B1

what indicates or what function are habilited on my actual config ?

if i do the wiring like the next post :

Thread

KRC2 - X11 & X40

use at own risk....

panic mode

Aug 19th 2016

what indicates or what function are habilited ?

Thanks for the info ,

yes , the data that i change its accoriding you write for me.

any changes i do with Mada and then after start cold appears the next errors :

114 SRM Difference between XML / RDC data and machine data

108 SRM safety state of the RDC not confirmed

436 Short circuit braking request by RDC 1

441 Invalid configuration on SafeRDW

i still tryng to add the external axis....

my robot have safeRDC, its neccesary an aditional config ?

Sorry not robcor.dat i modify, i modify machine.dat on the area according to external axis [7]

$RAT_MOT_AX[7]=

$RAT_MOT_ENC[7]=

$DSECHANNEL[7]=

.....

Etc

Fubini

im doing changes of mada with software "winmerge " i edit macnine.dat ,$robcor.dat according [7] data axis

inhibiting kss starup , pressing key CTrl i replace $macnine.dat robcor.dat

also with a backup i modify $machine .dat,$robcor.dat and restore then cold start and its not possible to add external axis correctly.

panic mode

Good idea! i compare the machine data of kr210 with KL500

with KR16_2 empty , i configure according [7] data axis and still with problems:

114 difference between XML /RDC data and machine data

108 safety state of rdc not confirmed

also appear DYN_DAT erros

Appears E1 need to be adjusted , i asume the external axis was added but not correctly.

unfortunatly on D:/ theres not KSS 5.5.12 to re-install kss only there is folder MADA and OPT.

Hello ,

Im trying to add an external axis to the robot KR16_2 C2 # article 11010711 with cabinet (V)KRC2 ed05 # article 11010711 KSS 5.5.12

With motor # article 69-225-463 and KSD1-32 # article 00-122-286

in the past i configured the same motor and KSD32 with KSS 5.2.14 KR2210L150S2000 with no problems

attached madas

Now , i configure my MADA for 5.5.12 with the data before used on KSS5.2.14 and appears errors:

436 short circuit braking request by RDC1
114 difference between XML /RDC data and machine data
1008 Dynamic model does not support this robroot kinematic

DYN_DAT [422] ,DYN_DAT [492] DYN_DAT [496] on MADA

i try with other servo files , cold start and its not possible to add external axis on KSS5.5.12

I take a new HDD install operating system and KSS 5.5.16 , 5.5.10 ,5.6.12 and was not possible to install KSS , apparently KR16_2 C2 # article 11010711 with cabinet (V)KRC2 ed05 # article 11010711 only works with KSS 5.5.12 , so i take again my HDD with 5.5.12 and still trying to add external axis.

Any idea to add my motor and KSD ?

im not using SMB2 , im using X17 and X12 from the KPS

Kind regards

Hello

Problem solved,

Also change the KPS 600 ,clean and replace buses cables , with no results.

The error triggered randomly cascade of messages: "2861 KCPDRV2 : Error of watchdog"

Any key of the Kcp2 not responding, It's necessary restart , choose cold start to erase the error , and after few minutes or couple hours the error triggered again.

Use a new HDD, I re install winXp ,kss ,load previous backup.

2 days working with no alarm.

Apparently the operating system suffer degradation

Quote from Matheus Lemes

This glitch is coming from the KSD boards! I work on a repair bench for KUKA license plates. I even wrote a manual on how to fix this type of error. If you want to know more I am open for dialogue.

Hello

I'm interested on the glitch Matheus

I have a KUKA KrC2 with this issues

"Error common on KSD 1-6 "

"Error synchronization ksd 1-6 "

"Perturbance on KSD 1-6 "

I try replacing many parts ...

Ksd ,Kps , computes ,buses cables.

Your help will be very useful

BR

Hello ,

KR210 KRC2 KSS 5.2.14

I have the error "2861 KCPDRV2 : Error of watchdog"

i try many things :

Change complete PC, KCP2 , safety board , harness of kcp,

checking documents of error messages not appears error 2861

any suggetions ?

BR