Posts by Kevin Wollmann

Thank you, Nation.

I switched my UOP configuration to the first 8 bits and it now works perfectly.

I'm setting up a robot with ethernet IP and I don't want to use PNS to select program.

I am running a Main_Program loop as my main program and in that loop I have a selector to run the right program.

I'm using ethernet IP to control start stop hold pause etc.

MENU - SETUP - PROGRAM SELECT - details = Other / Main_Program.

MENU - SETUP - PROGRAM SELECT - Method = Other

-----------------------------------------------------------------------

1: !Main destacking program 125L ;

2: LBL[1] ;

4: COL DETECT ON ;

5: COL GUARD ADJUST 120 ;

6: OVERRIDE=R[2:SPEED] ;

7: R[1:PROGRAM]=GI[1:PROGRAM_NUM] ;

8:J PR[8:PERCH] 30% FINE ;

12: !select program ;

13: SELECT R[1:PROGRAM]=1,CALL PROGRAM_250 ;

14: =2,CALL PROGRAM_200 ;

15: =3,CALL PROGRAM_120 ;

16: ELSE,CALL SUB_NONE ;

18: WAIT 2.00(sec) ;

20: JMP LBL[1] ;

--------------------------------------------------------------------

The problem is that every cycle the robot tries to change the configuration to run in PNS mode. With program not found error, and the MENU - SETUP - PROGRAM SELECT - details program is empty?

Is a robot variable configured to return to PNS mode regardless?

Hi, what is wrong with the following code.

This is in my DAT file

DECL FRAME Ofset
DECL INT A
DECL INT A1
DECL INT B
DECL INT C

This is in my SRC File. I get the error on the Ofset line.

PTP P8 Vel=30 % PDAT4 Tool[1] Base[0]
LIN P9 Vel=0.2 m/s CPDAT5 Tool[1] Base [0]

A = A + 1
A1 = 120 - A
B = 10
C = A1 * B

Ofset = $nullframe
Ofset.z = -C
LIN P9:Ofset

PTP P10 Vel=30 % PDAT6 Tool[1] Base[0]
PTP P11 Vel=0.2 m/s CPDAT7 Tool[1] Base [0]

Hi All.

I'm working on a Stacking robot that the customer wants to add a height offset of 10mm for everytime the robot drops a part. I haven't spent a lot of time with a kuka, but I hope i can get this to work. will the following work?

(Pos1) top of the stack

(Pos2) bottom of the stack

(Pos3) offset temp

(INT A) layers count

(INT B) offset measurement.

(INT C) temp

PLC is doing the batch counting $IN(3308)

robot acknowledge that the signal was received. $OUT(3342)

if $IN(3308) == true then     //devicenet input

    PULSE($OUT[3342] , 1)    // pulseoutput signal to show plc robot reset the stacking

    POS3 = POS2                    // restore the temp position to the set point

    A = 0                                  // restore int to 0

else

    A = A + 1                           // add layer

    C = A * B                           //multiply layer height

    LIN Pos3(a1 0, a2 0, a3 C, a4 0, a5 0, a6 0)   //new position

endif



PTP Pos1  //go back to top and cycle....