Posts by Adam.C

Hi.

I got KRC4 controller as MASTER and Festo gripper as Slave.

Im unable to comunicate with Festo becouse i dont know where I can set SAFETY F-Adress in Festo "Output module CPX-FVDA-P2". I already did that manually in binary coding via the 10-way DIL switch.

Now i must find that option in software. Any ideas?

Regards

Hi. I get problem that I just cant understand. I got TCP check for my spray gun and its perfertly same as yesterday.

Problem is with paths while robot is connected with conveyor. All paths go up ( 2cm higher). I didnt change anything.

Is there any possibility that conveyor traking started path with diffrent calculations?

I got 15 carts. I dont believie someone could modify all wheels. I can check cameras in factory but even if someone take pendant, what he could do, to make this change

Hi

Is there any possibility to cancel actually chosen program?

after INPUT i can do that

"CWRITE($CMD,STAT,MODE,"CANCEL/r1/cell")" or "CWRITE($CMD,STAT,MODE,"CANCEL/r1/testprogram")"

but i cant find solution to just CANCEL program that is actually running.

I can just copy this function for all existing programs but simply 1 line code solution will look better

Ok i just try some combinations and "CWRITE($CMD,STAT,MODE,"CANCEL"" is enough for cancel actual program. Anyway is there any manual ( except KSS 8.2, 8.3 CREAD/CWRITE V1) with all commands for $CMD channel ( or its only RUN RESET STOP CANCEL)?

Hi again,

one more time Im not sure about one thing ,and Im searching for solution

I want to know predictor of linear speed with robot $OV_PRO.

For example:

- I got linear move with 2m/s ( 100% in pendant).

- I change OV_PRO to 50%

Now robot will move with 1m/s?

I must teach points for conveyor with is moving 150mm/s . But during testing i want to reduce that speed ( for safety purposes)

Quote from Mentat

Apart from advance pointer making any changes irrelevant (at that moment) for the preplanned motions, the controller can't execute any commands that have any influence on robot kinematics by non-robot interpreter. E.g. no lin, ptp motions, active base or tool changes.

Im not sure what u mean. But I used to modify points frames etc with input signals from PLC and it always work (e.g cognex making photo and doing offset for frame to tighten screw)

It is constant for one ride, but when cycle will end someone can change speed ( max will be 150mm/s, and avaible speed will be for e.g only 10/30/50/100/150mm/s).

I was thinking about changing speed (OV value ) or make structure where in BAS setup speed will be INPUT value. But for now i think changing frame offset is easiest way. ( for now i cant think about other solution, except KUKA ConveyorTech, as SkyFire said.)

my bad

"base_data[1].y = base_data[1].y + base_offset_y"

Thx for second answer. I delete previous message (with code below) becouse i found your post from 3 years ago. (" The diffrence between main run and advance run")

I think at first i will try this. Painting spray positions have good deviation and maybe it will be enough.

Becouse at this moment im not sure about how much this bonus option cost and if it will be working with data from PLC

$BASE_DATA[1].Y = $BASE_DATA[1].Y + $IN[Distance]
PTP1
$BASE_DATA[1].Y = $BASE_DATA[1].Y + $IN[Distance]
LIN2
$BASE_DATA[1].Y = $BASE_DATA[1].Y + $IN[Distance]
PTP3

Hi,

I started (not long time ago) my adventure with kuka.

Actually im waiting for KRC4 Compact 8.3.43.

Im not sure about Kuka possibilities.

I will have moving conveyor. I want to send distance (in mm) from PLC to KUKA, and change BASE offset.

Will be this, written in SPS:

$BASE_DATA[1].Y = $BASE_DATA[1].Y + $IN[Distance]

enough for dynamic movement? In other words, will robot be capable to calculate new movements in time?

I want to do same path of paint injection with diffrent conveyor speed.

Regards Adam

If anyone ever will have same problem, in robot folder ( D:\KUKA_OPT\ ) u can find file " .kop" then in work visual Extras install it in Option package managment.

Hi, im newbie with Kuka and i got stuck with this problem "12:50:26 Validation before code generation: Controller '1025221' - The option 'Profinet ProfiSafe Device' is not installed. Please install the option in version '3.2.2'."

I try deploy settings from WorkVisual to my controller ( in order to control robot from PLC) but i cannot find this device version. How i can find it and install in workvisual?

Best regards

i got profinet safety i/o so CSI, R-30iB, as i see cabinet B, also i see in DCS SAFE I/O device type E-stop board with 8 SPI /8 SPO

its not directly related with my other post, those 2 (welding) robots on one controller stay near robot with gripper with will pass tool.

i want to be sure that gripper wont come, when welding robots are in work position

thx for information, i will try find out rest

i want to make zone that this robot can enter only after getting signal from PLC that other robot is in HOME position and im not sure how i can do that properly

is there any diffrence between those options in Disabling input menu?

probably im doing something wrong or its problem with my version ( v9 rev f) :< i can not define second target model as second robot

both on same controller, thx i found that option, i will try find out how target model 1/ target model 2 works

Hello,

I got question about DCS. Is there any option to power off robots, when any bubble hit another bubble from second robot? picture below