Yes , I meant EDS, sorry.
Posts by Stefan28
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We ended up calling Kuka Canada for support ,and after couple of days on the issue they found out that the problem came from a cable inside EMD. After this cable was replaced reference mastering passed.
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All of the working space is divided in multiple monitoring spaces for safety use (there are multiple robots in this cell ) and of course if the robot is not in a space is exceeding a different one .
I don't see any errors saying that an axis is unmastered an I can still execute in manual the Masref program, will I be able to ran a program if the robot is unmastered?
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The safety switch is connected straight in the KRC4 cabinet, no PLC changes were done.
The Failed mastering test comes up as soon I press start key, and after that comes the message "programed patch reached". IMG_6434-1.mov
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Both light on the switch are on when robot is at home, and both turn off when in the same time when the fork is in ref master position.
I took another switch from another robot , the issue remain. the only thing I didn't was to replace the cable. I will try that next.
In the mean time if you have other suggestion please let me know.
Thank you!
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Hi ,
The KSS version:V8.3.450, SafeOp version:3.2.3.
Position value of programmed point at reference position is identically with position value saved in safety configuration .The robot is in production and ran the reference mastering test program for over 4 years.
No changes done in the program, no mechanically changes done to the robot or mastering switch .
At the reference mastering position the fork is perfectly centered with the mastering sensors.
MASTREFSTARTG1()
PTP Home
PTP P1
LIN RefPos
wait time=1sec
END
MASTREFBACKG1()
LIN RefPos
PTP P1
PTP Home
END
I 've rebooted the controller with reload files ,at start up I had the regular alarms, break test required and mastering test required.
I selected the masref_main program and as soon I pressed start on the pendant and execute the PTP Home the alarm "Matering test failed " appears. It doesn't fail after the ref pos is executed .
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Thank you SkyFire, the dial mastering is that I used and it did not need any position to touch up.
Now I have another issue at the same robot, mastering test is failing.
After I mastered the axis , I ran the mastering test program and it passed .Since then it passed the mastering test couple of times until this morning.
I checked the robot program and the mastering position in safety config ,everything is ok, positions are good, the light of the mastering switch are turning off simultaneous , but the mastering is failing every time.
What I also noticed is that the error message " MASTERING FAILED" comes up as soon the program execution starts .
Do you have any ideas?
Thank you!
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Thank you!
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Hi there,
I need to re-master a KRC4 controller robot but I don't have a mastering tool.
This robot was previously mastered with a mastering tool and ran in production.
Is there any data in the back-up that I use to restore the mastering positions?
Thank you!
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Were can I get the proper file?
Or have Kuka to load the robcor file?
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I just found a difference between the robot name in robcor file and the label on the arm.
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I have copied a module template from another KRC2 Robot that is not having the PressTec option.
I teached a PTP P1 ,then PTP P2 and a LIN P2.
If P1 am P2 are on the same side of this weird area both PTP and LIN executions are fine. But if I teach P1 and P2 on separated by this area then the issue appears.
When I execute the PTP P2 the robot moves as expected , but when I try to execute the LIN P2 the robot will try to do a big curve in the opposite direction and speed up significantly (like when you are close to singularity , witch I'm not even close ).
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I don't see another template option , I choose module template and that is what it came up with.
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Hi,
I just tried to create a new programs and it came up with this PressTec format that is having too many things ,not like the regular format with only two Move Home instructions.
So I saw that there are lot of programed keys under the PressTec and not need them ,and in machine.dat there are bunch of declarations that are related to this option.
There is any way of just reinitialize the robot without any previous project?
Thank you!
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The robots were always ceiling-mount.
All robots( 4 of them ) are having same issue , they start jogging nice linear and in the same area/location they start curving around.
I executed the Home position and everything seams fine visually .
Thank you!
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Hi,
I'm working on a project that we use KRC2 ceiling mount robots.
They were used for a different project before .
I mastered them and tried to jog in World system ,they will move nice and straight for maybe a meter and then they will be curving around (like trying to avoid an area).
When I jog the robot on X for example and I check the robot position , I can see the only coordinate changing is just X ,even when visually robot moves on Y also.
If I reposition the robot using axis jog on the other side of this area , and change the jog mode to world it starts nice and straight until reach this zone and then curve around.
It can be because what was set up on them for previous project ? Can I just reload a machine file or just reinitialized the system so I can get ride of everything that was used before?
Thank you!
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Hi ,
I'm working on a IRC5 6600, originally this robot was equipped with an servo gun as axis no. 7 .We do not have the gun on the robot now but we want to use the same drive that was used for servo gun but to command an motor(axis 1 motor form another 6600 robot) as a external axis(resolver and motor power cables are ok, jogging the axis works ).I changed in SINGLE TYPE menu from LIN to FREE_ROT but when I read the values of current position in jog menu there are still showing in MM instead of degrees . Are there any other parameters that need to be changed in order to see degrees instead of MM ?
Thank you!
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Hi,
Yes , I have the same amount of PR in both robots.
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