No i don't think this will work. My project already has everything in it.
You can go ahead and add all modules to the bus structure.
It should look like the attached.
If you have media flange then you add it to the System Bus.
Posts by kr16_2
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Start Sunrise , create new project and download it from the robot.
That should have WOV configuration file in the tree with all the stuff you are looking for.What bus are you trying to use? (that does not allow you insertion of new modules)
Post screenshot. It all works fine in wov 3.1 and 4.0. User error -
rad/s are available for LIN motions but to just start going in given direction you will have to create your own function I guess
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bot.move(ptp(0.785).setJointVelocityRel(1));
that will move axis1 45 degress with maximum velocity
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First you need to activate the controller (double click KRC4 icon or right click it and "set active")
Your buses will be available at that point
Right click on the bus and pick add - this is how you add your hardware.
My dtm catalog is also empty. -
start wov (do not open any projects)
Extras - > dtm catalog management
search for installed dtms button
after its done move all from known dtms (left window) to current dtms (right window)
make sure your modules are on the list
hit OK
close WOV -
Just an idea. I see those devices used in some of our KRC4s.
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jog command? Like rotate axis 1 20 degrees ? from regular sunrise application?
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The thing that's unusual is the location of EK1100 coupler and profibus gateway (end of arm)
You need to supply 24V (through internal arm connections) and EtherCat network connection (also internal)
EK1100 and gateway are not heavy (~0.25kg) but kind of bulky.
When creating config in WOV you will use System Bus (not Extension Bus) as your EtherCat provider. -
You cannot set different limits for different joints for PTP motion.
You set general limit from 1 - 100% of maximum velocity of leading axis(joint)
You would not know which joint will be a leading axis.
These are characteristics of PTP motions.
Exact velocity is not known. -
INW1
IN - digital inputs
W - word (16 bits) this is the length (x1 on right side means you only need one word)
1 - KRC address starting at 8*X+1 where X is your number, in this case it is 1, so 8*1+1=9, 16 bits starting at input 9 (range 9-24)I am not sure about last calculations, maybe in case of word you would use 16*X+1 to calculate KRC address (range 17-32)
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I don't think its going to work.
To move on from KSS4.x to KSS5.x you need different version on MFC/DSE combo.
On the PCI card sticker (either MFC or DSE) there needs to be clear indication that this is version C33.
KSS 5.4.x does not have krc2.bin file in DSE folder. -
$act_base is responsible for the little display icon that you are watching.
Your program is working the way you want it.If you set $base = base_data[1] KRC is using base1 from now on.
Your display is not changign because your are not setting it.Do this in your program:
$base=base_data[4] ; sets the actual base
$act_base=4 ; set value on user displayIf you are not sure what is going on continuously monitor $base variable to make sure it is not switching.
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First I was confused but I guess I got it now.
So you are planning on installing EK1100, profibus gateway and gripper on the robot flange?Just out of curiosity did you try to search for grippers that use EtherCat ?
As far as USB I think you can just run external wire hanging loose. Once you have it all configured and working you don't need it any more.
Its more like a service connection used temporarily. -
Robots cannot do circles
With CIRC command you will get more of an elliptical shape. Visually they kind of look like circles but if you measure...You will get better results with multiple LIN C_DIS motions. That may require some sim software to calculate it for you.
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Yeah, definitely. With USB connection and full feature software you will be able to do whatever you want (at least that's what I would expect - they have to have a way to control it after all)
Problem is you have to do all these controls manually from PC hence "USB communication is only intended for parameterization and commissioning"
That's not automation approach -
Based on this documentation:
You can use USB and control gripper from separate PC with software and HMI -> easy way but no full automation.
If KRC is to send commands and responses than you have to use Profibus.
Other option is separate PLC using Profibus again. -
Nice finding
I hope I don't have to work with WIN95 anymore but its good to know how to do it easy(no CD needed)
BTW sm.com utility can be loaded from floppy directly so monitor pops up right away. -
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Seems like they don't have coupling between 4 and 5,6.
I see only coupling values between 5 and 6.