Posts by aqapour

Quote from SkyeFire

The correct GSDML file may be in the robot. Try under D:\KUKA_OPT\ProfiNet.

for me there is not gsdml and cp1616 windows driver

Thanks Skyfire more details do you have?i want to configure both io-controller and io device ,how to test signals over profinet?

What about kuka krc2 ed05 gsdml file?all are the same you put them to download?for example if i want to work with tia and i have had one plc and one krc2 controler can i use above files?

Thanks Alex but why in some documents and other manuals refered to use workvisual 2.x?

where can i download suitable workvisual for my kuka krc2 ed5?

Right Click on Right menu colum and checkmark Robot Management then you can see the toolbar then click on like Mannequin icon the Teach a device is appeared then on the upper right combobox you can switch from Format to Table if you teached a robot you can see some raws with Op then double click on Op and a windows appears on the upper middle you can switch to Via Process and after that you see on the left hand pick option click on it and click Right Arrow then in next window click Parts to pick select part you want to pick and select the device in this case Robot should be seleted ... and that is same for Dropping part....

- After selecting the joint, go to the **Properties** pane (usually located on the right side).
- Here, you can modify various parameters:
- **Joint Type**: Change the type of joint (e.g., revolute, linear).
- **Limits**: Adjust the range of motion (minimum and maximum angles or positions).
- **Speed**: Modify the speed settings for the joint.
- **Acceleration**: Adjusting acceleration parameters might be possible, depending on the joint type.

Editing joints in RobotStudio, ABB's simulation and offline programming software, is a straightforward process. Here’s a concise guide on how to edit joints for a robot model:

### Step-by-Step Guide to Edit Joints in RobotStudio

1. **Open RobotStudio**: Launch the RobotStudio application.

2. **Load Your Robot Model**:
- Open an existing project or create a new one.
- Under the **Robot** tab, select the robot model you wish to edit. If you are starting from scratch, you can add a new robot by going to **Robot > Add Robot**.

3. **Navigate to the Robot Structure**:
- In the **RobotStudio Explorer** on the left side, find your robot under the **Robot Objects** list.
- Expand the robot object to view its joints and components.

4. **Select the Joint**:
- Click on the specific joint you want to edit (e.g., Joint 1, Joint 2, etc.) from the tree structure.

5. **Edit Joint Properties**:
- After selecting the joint, go to the **Properties** pane (usually located on the right side).
- Here, you can modify various parameters:
- **Joint Type**: Change the type of joint (e.g., revolute, linear).
- **Limits**: Adjust the range of motion (minimum and maximum angles or positions).
- **Speed**: Modify the speed settings for the joint.
- **Acceleration**: Adjusting acceleration parameters might be possible, depending on the joint type.

6. **Modify Geometric Properties (if needed)**:
- If you want to change the joint's position or orientation, you can do that in the **Model** view:
- Use the **Move** tool to physically drag the joint to a new position or orientation.
- Right-click on the joint and select **Transform** to enter specific numeric values for position and rotation.

7. **Check the Kinematic Chains**:
- Ensure that any changes you made do not disrupt the robot’s kinematic chain. You can simulate the robot's movements to see if it functions as expected.

8. **Save Your Changes**:
- Once you’re satisfied with your modifications, save your project by going to **File > Save** or using the shortcut `Ctrl + S`.

9. **Simulate the Changes** (optional):
- Run a simulation to verify that the joint behaves as intended within the context of the overall robot operation.

### Tips:

- **Reference Documentation**: If you're unsure about specific parameters or joint types, consult the RobotStudio user manual for detailed explanations of each setting.
- **Backup**: Always keep a backup of your original project before making significant edits.

By following these steps, you’ll be able to effectively edit joints in RobotStudio and refine your robot’s design and functionality.

can you explain int step by step?

where can i find programming manual for yaskawa?

For me Solved :)by changing the cable and Card

I have same problem.

It has below error :

"Name invalid for this type of constant

BAS (#PTP_PARAMS,100)

Compilation error

Thank you, Herman, as I wrote in the above posts, I have a Kuka robot krc2 ed 2004 that used to work with Windows 95. I upgraded it to Windows XP and replaced my previous programs in each of the system, program, and TP folders. And all the problems were solved and the robot was working until today when I wanted to open a new module or a new program, after opening a red cross mark fell on this new program and I practically cannot run the new program.is this infos enough?

Please read the above posts carefully. I have already discussed the whole story with Panic Mod and Skyfire

Hi Dear Friends

After I changed the operating system of the robot from Windows 95 to Windows XP, everything was fine until today. Today, I wanted to open a new module. I encountered the following error message.

"Name invalid for this type of constant

BAS (#PTP_PARAMS,100)

Can you advise what the problem could be and fix it?

Quote from SkyeFire

You still didn't answer any of the critical questions.

1. You cannot simply copy the contents of the TP directory from one robot to another. TPs must be installed using the actual KUKA installation program. These programs normally come on the CDs from KUKA, but when installed a copy of the installer is normally placed under the D:\KUKA_OPT directory inside the robot.

2. If you did not make a complete hard drive image before doing the Windows upgrade, then your only way to get the TPs back is to get the install CDs from KUKA. Because doing the Windows upgrade probably deleted the original D: partition.

3. You mention "red Xs", but you have said anything about the error messages. Each line of a program that fails compilation and linking will produce a detailed error message specifying which line failed, and why. You're going to need to try to load one file at a time, and examine the resulting errors in detail, to determine what still works and what is broken.

Thanks SkyeFire,all things done and working properly,first i edited the $Config.dat file in winxp side with declaration Tech packs then unfold $Config.dat in win95 side then select all contenets and copy them afte that paste it to the win xp $Config.dat then i replace bas.src from win 95 to win xp all x crossed files have been corrected now every things working well but i have a small error that says DSE writing I/O Errors but It does not cause a problem Thank you and thanks alot Panic mode

Quote from panic mode

a lot is left out and you are not successful in conveying important details. so rather than going though million questions, lets forget about importing old programs for a moment - you installed new OS and KSS. is the robot operational now? if that is not the case, importing programs and settings is pointless. so can you use robot normally? that means jog, create new text program from a default template....

if your robot is operational. then you can think about importing programs from the old archive.

if not, you are just wasting time...

so suppose robot is operational and you transferred some of your programs... important thing here is to no overwrite any files, just add files that do not already exist on new KSS. failure to do that will corrupt the installation and you will need to start fresh. any files that exist in new KSS need to be retained. the only change would be to insert user declared variables from old $CONFIG.DAT to new one. that is it.

red X on program files indicates compilation error. usual causes are not declared variables or missing dependencies. this can be resolved but it is time consuming. for example of $CONFIG.DAT has red X, pretty much everything else will have it too since pretty much all programs (including submit interpreter) use $CONFIG.DAT.

as mentioned $COFIG.DAT is not the same among different KSS versions. this means you cannot just overwrite it. well you can but it is a bad idea. same goes for machine data, and other key files (BAS.SRC, P00.SRC etc.)

once the key files are error free, insert into $CONFIG.DAT user declared variables as well as tool load and base data.

then you can focus on user programs. i would usually recommend simply commenting out any line that fails to compile.

once you get each program to compile (no more red X) you got the skeletons... this allows you to see if all dependencies are there. then you can test them. if something is not right, look at what was commented out and fix or recreate that functionality.

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First of all, thank you for taking the time to answer my question... After installing Windows XP and KSS 5.2.12, my robot is fully operational and working. There are only two P00 files in the folder. I transferred A10, 20, 50, and H50 files from the previous Windows archive (Windows 95) from the TP folder (file package technology) and a series of other files to TP, and when in my program (for example, the car body), the relevant lines I comment on the mentioned files, the work done in Windows 95 works perfectly on the robot, but when I remove this technology package from the comment, I get about 20-30 errors.

Quote from SkyeFire

How? Unless you used the specific KUKA version of Windows, you've probably wrecked the KRC.

What steps did you take to ensure this Windows XP installer would work correctly with the KRC, and had all the correct drivers?

Is the robot working at all after doing this OS change?

What error(s), exactly? Details matter.

If the only errors are related to missing TPs, then you can try to re-install the TPs from the disk image you made of the hard drive before you tried installing a new version of Windows. You did make a proper backup image first, correct?

Hi Skyefire, look, I have my Windows 95 backup, now I want to transfer my programs to Windows XP, but after transferring the technology package to the folder TP, as well as my programs, a red X mark appears on all of them. How can I solve the problem? Did you solve it?

Quote from SkyeFire

...how, exactly? On KRCs, the Windows version and KSS version are tied together intimately. If you used a regular Microsoft desktop-type Windows installation, you've probably bricked the KRC entirely.

The only safe way to do an OS upgrade on a KRC is to determine the highest compatible OS from KUKA -- this includes both Windows and VxWorks/KSS -- and get the applicable installation media set from KUKA. Then install Windows, followed by KSS, in the correct sequence.

As for Tech Packages... P00 is not a TP, it comes with every KRC by default. TP compatibility is a complex question. Some old TPs work well in newer KSS versions, others definitely do not. Aside from asking KUKA for a compatibility list, the simplest approach is to try installing each TP from the D:/KUKA_OPT copy and see which ones work and which ones don't.

I installed Windows XP, then I installed Kuka Cross version 5.1 and now I want to transfer my existing programs from Windows 95 to the new Windows xp, and for this purpose I want to use the archive, but I get an error, I don't know if the transfer steps are possible And if it is possible, how should I do this? By the way, the robot works perfectly after installing Windows XP, but I want my previous programs to be transferred to the new system and work there as well.