Built the the circuit in previous posts shown below on a simulator and only getting an output of 9V
Built the the circuit in previous posts shown below on a simulator and only getting an output of 9V
That should work now
Hi,
Getting back to this now.
I found a circuit and wondering your thoughts if i'm on the right track
If the arduino runs a program which sets a digital Output pin on the arduino to an digital input pin on the robot. The EL1809 '0' voltage is -3 to 5V and '1' voltage is 11 to 30V. 5v output can us stepped up to 12V to trigger a 1 on the digital output. The robot program of this could a an until loop which moves robot until a 1 is triggered.
Let me know if I'm on the right track
What if i was to use the HX711 analogue to digital converter which is commonly used in to amplify load cell signals and would go into digital inputs on the kuka. Still not sure if this would work. I have seen the hx711 used with an ardunio which handles the calibration of the load cell and the reading of the load cell. has anyone seen the kuka working with the ardunio
Perhaps I should explain the system in a it more detail. Essentially I have an s type load cell mounted to to tool flange and a bar attached to the load cell to just get reach and apply the load. I want the robot the move in a set direction and then stop when a certain force is reached. From previous replies on this post the load cell needs an amplifier due the the micro volts given out by a load cell. The output from the amplifier is wired into in input module in the kuka.
Is the load read in voltage by the kuka and to set an load, does a voltage need to be applied in order or can then kuka be set to keep moving until a voltage is reached.
Hi
Could you provide some controllers that would work with the kuka. i have EL4001 output module on the kuka so any help would be appreciated
Hi,
So got it displaying. Problem was i had the .dat opened selected rather than opened. Once i sorted that added, DECL GLOBAL INT ROW to the list and saved that. Then removed the declaration from the .src file and worked a treat.
Thanks for all the help
The variable was declared in the .src file but then tried to declare it as a global in the .dat file but believe i done it incorrectly using the kuka programming manual partly because the .dat file was in german and wouldnt allow me to modify blocks.
The code is in the first post.
So i declared the variable in the config.dat file under user defined variables and still unable to view cycle count is variable display- single. appears a 1 when BCO is reached but when FOR loop is ran 50 times, not showing anything.
Also when update is selected, error appears "no runtime data selected"
Should the variable in config dat be declared as a global variable and the called in the .src or .dat file as well
I want it displayed on the variable monitor. I'll look into declaring it as a global variable.
Regards
Hi,
Having some trouble displaying the a integer variable. variable is declared is .src and .dat file. program is a simple for loop and need to display the cycle count to prove a no of cycles to customer. program is shown below. Have not worked with displaying variables in KRC4 so would like to get a grasp of this
After a bit of further investigation, a looked at the existing logic code of the safety PLC and the code shown an input for a light curtain which must of been lost when robot was getting moved around the different sites so it was just a case of deleting that input from the code and upload to the PLC and all running in auto with interlocks working so thanks for all the help.
Much appreciated
I know that i need the acknowledgement button but does anyone have experience using guard interlocks and an acknowledgement button using the SICK safety PLC. The interlocks seem to be wired into the input/output module and the relay module. Is the relay module needed for the interlocks are can they be used with the input/output module.
Regards
Thanks for replies. Is the safety PLC really needed then if the acknowledgement button and interlock are put directly to the x11
I have a kuka kr210 and KRC4 controller and am having issues with the safety setup. The robot was originally setup around 4 years ago and the person who done it has departed the company a long time ago. An external E-stop is wired to interface X11 and a Sick flexisoft safety PLC (CPU1, XTIO and a UE410-4RO relay module) and an acknowledgement button is also on the PLC. my question is, is there any wiring diagrams for the sick PLC which show it connected to the kuka as the interlocks are not working nor is the acknowledgement button but the E-stop is.
I have a large selection of load cells and can do the mounting easy enough. The wiring to the robot and programming.
Hi,
I'm looking to mount a load cell onto the end of a kuka KR210 and use it to apply a load to an object. Eg say 500N needs applied. I want the robot to move down and the load cell to tell the robot that 500N is reached and move up.
Any help in how to do this would be much appreciated