Posts by starlord_94

The issue is resolved by making a different sub interpreter and turning ON the purge bits on the SCA controller.

I couldnt get the gluetech package to execute so the DO's for SCA system were toggled.

Thanks for the answer. I have some follow up questions,

1. Will a program called from SPS be executed parallelly with the current robot program?

2. Will the robot run program called from TRIGGER function parallelly to the program which has the TRIGGER function?

Hi,

I am new to Kuka robots

I am using a K210 KRC 8.6.5 with gluetech package V4.4.3 and SCA dispense system from Atlas Copco. The robot will grip a part and glue it under a nozzle as an external TCP

I want to initialize for GlueTech package before the robot moves under the nozzle to eliminate the robot waiting for the initialization

Currently this is being done in the gluing program right before the robot moves under the nozzle.

I want to run the initialize sequence in a .sub file called glueinginit OR the default sps.sub on a trigger from the PLC

When I try to run the initialize sequence for the GlueTech package from a .sub file I am unable to run the initialize definitions (SetProgNo and InitSystem). The .sub doesnt throw any errors and runs on the PLC trigger but the functions dont get execute.

The functions (SetProgNo and InitSystem) run when they are executed from the Glue.src program. They are both global definitions in the GlueTech package

What am I missing here??

The problem is fixed. We coldstarted the controller with reload files option selected on the shutdown menu

Hi,

Not a expert on Kukas

I am dealing with a KRC4 controller and when I go to select the cell.src program I am getting a C3FIL 118 "File selection not permissible if a file is open with write access" error. I cannot select a program to run in ext aut because of it but I can open any and all prorams.

I have tired logging in as expert and administrator and also tried power cycling the robot but the error is unable to recover.

Any help will be appreciated

Cwany thank you for the help! Was able to find the correct manual.

System -

Robot - Kuka KR10 1100R with KRC4 controller

PLC - Siemens S71516

Hello everyone,

For my project I want to write a FB to control the KR10 robot from the Siemens 1516 PLC. Is there a manual for a signal map and timing charts for robot start/stop and program select over PROFINET? I have looked at the MxAutomation library but I want to write my own FB as the library would be overkill for the project.

Any help would be appreciated!

Got it. Saved me a lot of troubleshooting!

Appreciate the help!

Got it. So is it a SINT on the PLC to decimal on the robot conversion?

So I have attached a print of my AOP routine which I use to run the robots from an AB L32E.

I have 8 DOs on the PLC mapped to 8 PNS select input bits on the robot.

Right now I am only turning on the bit for PNS5 to run the program.

Should I turn be turning on bits for PNS1 and PNS3 to run PNS5?

I tried changing the name of PNS0005 to PNS0001. It ran through the PLC UOP. Any programs after PNS0004 don't run through the PLC UOP even though the UOP inputs have 8 PNS/RSR/STYLE inputs.

I want to sequence PNS0005 after PNS0001 through the PLC.

I have .ls files for PNS0001 and PNS0005 attached. Both programs are working.

I am running 5 PNS programs on a LRMate200iC with R30iA controller. The PNS programs are run remotely by a PLC via UOP signals.

Programs PNS0001 - PNS0004 run through the PLC UOP signals. But when I try to run PNS0005 through the PLC UOP signals I get SYST-014 failed to run task and MEMO-073 program does not exsist. PNS0005 is a roboguide generated program downloaded to TP via ethernet.

Checked the UOP signals. I get a PNS0005 input ON by the PLC.

Checked the select menu. The program is there.

Tried calling PNS0005 in PNS0001. PNS0001 runs till the call instruction and I get the SYST-014 and MEMO-073 error again.

Changed PNS0005's name and tried calling through PNS0001 but gives me the same error.

Changed PNS0005 number to 6, 7 and 8 and tried calling through those PNS UOP's. But still fails to execute with the same error.

Tried a cold start. Still gives the same error when I try to run through the PLC.

The program runs on Teach mode and through the controller panel cycle start button. But not through the PLC.

Any idea what is the problem? I am a student and don't have much experience with robots.

Have you seen projects where a PLC being used to control the 7th axis ? Is such type of control common in the industry ?

Hi, I am a student and my project is to mount a FANUC lrmate 200ic with R30ia controller on a 7th axis rail system. The rail is gonna come from schunk or gudel.

Can the 7th axis be added to the robot servo controller ? Or will i be needing a PLC to run a servo drive to move the rail. I have ethernetIO on the robot and a AB plc for PLC-robot handshaking.

Yes. I have the card which came with the robot.

My department wants to purchase Ethernet IP option on FANUC R30ia controller. I have a quote from FANUC on RTL-R538-LR.

How will I install this software package ?

There is no option in I/Os for EthernetIP.

In this case is there any solution to communicate on ethernet IP ?

I am just starting with Robots and still am a student. For my project I am communicating a FANUC R30iA with AB L32E PLC.

I have tried following steps from this video

1. I can ping the PLC from the teach pendant and I can ping both the robot and PLC on the PC.

2. I have setup the Robot IP on a Ethernet Driver on RSlinx classic. Its missing an EDS and its showing up as a question mark with a RED cross.

3. When I set up the Rack Number on the I/O on the teach pendant as 89 for Ethernet IP its giving me a Port Number Invalid error.

4. In the PLC after setting the robot IP on a generic Ethernet IP driver I am not able to communicate with the robot.

Any solutions or ideas which might work ??