Posts by yourspk

Quote from panic mode

if i am not mistaken it overwrites velocity for all axes .... including E1 and E2. so they are 15% and no longer 100%

btw, your code is not even executable. i do not see tool and base selection. without them there is no LIN motion.

As hermann suspected BAS (#PTP_PARAMS,15) only affects the PTP movement. I tried changing it to 100 and observed no change in velocity in linear movements.

FDAT_ACT = {TOOL_NO 5,BASE_NO 3,IPO_FRAME #BASE}

BAS (#PTP_PARAMS,15)

This usually sets the tool/base.

Quote from hermann

But are you sure that the base no 3 uses coupled / coordinated motion?

Upload your $config.dat, you can see it in MACHINE_FRAME_DAT[3].MACH_DEF_INDEX

Yes, the base no 3 is calibrated with reference to the DKP. Here is the frame definition from $config.dat:

MACHINE_FRAME_DAT[3]={MACH_DEF_INDEX 2,PARENT[] "DKP-400_1_40A",GEOMETRY[] "ObjectId = -338815267"}

I think, even though the commanded linear velocity is 0.01, the required axis movements could be over demanding to achieve it. How could I calculate the exact axis RPM so that I can figure out maximum possible linear velocity at the toolpath point?

Is there anything else I can do to unleash the full potential of the motors (if not already done from my script)

Hi Fubini,

Thank you for the response.

I attached the $machine file. I only changed $VEL_AXIS_MA[7,8] to 4100 from lower values, as the rated values are 4300 and 4100 respectively.

I also defined both $VEL_EXTAX[] and $ACC_EXTAX[] to 100 for both the axes(1,2).

DEF speedTest()

;------- Declaration section -------

;FOLD DECL

DECL REAL printVel

;ENDFOLD

;------- Initialization ---------

BAS (#INITMOV,0)

BAS(#VEL_PTP, 10)

$VEL.CP = 0.01

$ACC.CP = 1

$APO.CDIS = 50

$APO.CVEL = 80

$VEL_EXTAX[1]=100

$ACC_EXTAX[1]=100

$VEL_EXTAX[2]=100

$ACC_EXTAX[2]=100

PDAT_ACT = {VEL 10,ACC 100,APO_DIST 50}

FDAT_ACT = {TOOL_NO 5,BASE_NO 3,IPO_FRAME #BASE}

BAS (#PTP_PARAMS,15)

printVel = 0.01

;----------- Main section ----------

PTP $POS_ACT

;Time Stamp 08/25/2023 11:18:59

ANOUT ON CHANNEL_1 = 1.0*$VEL_ACT+0.0 DELAY=0

;FOLD LIN P0 (0%)

$VEL.CP = printVel

LIN {E6POS: X 36.85, Y 14.09, Z 22.03, A 48.708, B 87.197, C 136.76, E1 -2.80, E2 -48.71}C_VEL

LIN {E6POS: X 38.53, Y 12.92, Z 22.03, A 44.624, B 87.996, C 136.694, E1 -2.00, E2 -44.62}C_VEL

LIN {E6POS: X 37.11, Y 11.52, Z 21.96, A 44.624, B 87.996, C 136.734, E1 -2.00, E2 -44.62}C_VEL

LIN {E6POS: X 38.66, Y 10.38, Z 21.99, A 40.126, B 88.985, C 136.675, E1 -1.01, E2 -40.13}C_VEL

LIN {E6POS: X 40.19, Y 11.67, Z 22.02, A 40.126, B 88.985, C 136.631, E1 -1.01, E2 -40.13}C_VEL

LIN {E6POS: X 41.80, Y 10.27, Z 22.01, A -144.806, B 89.92, C -43.132, E1 0.08, E2 -34.90}C_VEL

LIN {E6POS: X 40.17, Y 9.12, Z 22.01, A -144.806, B 89.92, C -37.864, E1 0.08, E2 -29.68}C_VEL

LIN {E6POS: X 41.54, Y 7.69, Z 22.03, A -150.317, B 88.9, C -43.411, E1 1.10, E2 -29.68}C_VEL

LIN {E6POS: X 43.28, Y 8.68, Z 21.99, A -150.317, B 88.9, C -43.46, E1 1.10, E2 -29.68}C_VEL

LIN {E6POS: X 44.50, Y 6.85, Z 21.97, A -156.534, B 88.2, C -43.488, E1 1.80, E2 -23.47}C_VEL

LIN {E6POS: X 42.66, Y 6.05, Z 22.03, A -156.534, B 88.2, C -43.436, E1 1.80, E2 -23.47}C_VEL

LIN {E6POS: X 43.37, Y 4.20, Z 22.03, A -163.532, B 88.108, C -43.456, E1 1.89, E2 -16.47}C_VEL

LIN {E6POS: X 45.29, Y 4.77, Z 21.96, A -163.532, B 88.108, C -43.512, E1 1.89, E2 -16.47}C_VEL

LIN {E6POS: X 45.50, Y 2.54, Z 21.99, A -170.97, B 88.865, C -43.529, E1 1.14, E2 -9.03}C_VEL

LIN {E6POS: X 43.52, Y 2.23, Z 22.03, A -170.97, B 88.865, C -43.472, E1 1.14, E2 -9.03}C_VEL

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I still can not achieve the constant (atleast close to) velocity of 0.01 at the TCP, which is a problem for welding(WAAM). What else should I be considering to improve it?

Hello

KR240 R2900, KRC4 , KSS 8.6.7, DKP 400 V1, Fronius ROB 5000.

I am working on 3d printing with above mentioned setup. I have trouble maintaining the speed.

The toolpath looks like a zigzag pattern, I am aware that the robot has to slow down at the corners to achieve 180 degree turns, but this speed deviation is way more when I include the external axes movements in the motion command (LIN) compared to when using robot axes alone.

In the attached example(test1) the robot speed varies between 0.004-0.09 even though the programmed speed is 0.01

• The robot and external axis motions are synchronized and mathematically coupled.
• The printed toolpath looks as intended.

In the attached example(test2) the robot speed varies between 0.008-0.009

• The robot and external axis motions are synchronized and mathematically coupled.
• The printed toolpath looks as intended.

The only difference is the movement of coupled external axes. The speeds mentioned above are observed through analog output as defined in the attached files.

Do the external axes movements restrict the print speed?

How do I achieve constant(almost) path speed while using external axes(DKP)?

I also purchased KUKA.CNC (did not use it yet), will it help to achieve better results?

Please let me know if I am missing any major steps or information here.

Thanks and Regards

SPK

Thank you for your suggestion massula , I have downloaded the old project file with correct robot information. Now I have "Machine names of the robot drives inconsistent" error.

I manually changed the variable $TRAFONAME[] to "KR240R3100K ULTRA C4 FLR" and set this value to the $ROBTRAFO[] as well. I still have "Machine data do not match robot type" error left. all other follow up errors are gone.

Hi All,

Setup: KR240 R3100 k ultra_KRC ; KRC4 ; V8.3.422, WV 6.0

MADA(on label): KR240R3100K_ULTRA\Floor

Trafoname[]: KR240R3100K ULTRA C4 FLR

I just tried to upload the WV project with a new KRL file as always. Nothing changed nothing touched. I received "Machine data do not match robot type" error.

I could see that in the Robot Data window, Machine data is "OFFICE ROBOT KR125" but Robot Name is same as before. This field is not editable. We bought this robot from a third party supplier, we did not receive any CD with KSS.

$ROBTRAFO[] : OFFICE ROBOT KR125

$TRAFONAME[]: OFFICE ROBOT KR125

And of course there are some follow up error messages like software limit switch, position deviation errors due to this mismatch of Machine Data.

I am not able to figure out why this has happened while running a routine. Please suggest How to change/load Machine data.

(NOTE: we recently bought a new SmartPad and it was working fine)

Please let me know if you need more information to help me.

Thanks

Pavan

Thank you panic mode , byte swapping did the trick.

Hi All,

INFO: KRC 4 with ProfiNet, Kss 8.3, TIA 14

We are trying to exchange analog signals between controller and the PLC via TIA portal. We use the PLC's device description (generated using TIA) in the VW Profinet. Digital IO connections are working perfectly fine but we are a bit confused about the conversion of analog signals.

We created both one Byte and two Byte transfer areas in the PLC(TIA profinet) and mapped them to the analog input and outputs of the robot controller (one Byte for SINT two Bytes for INT). When we monitor the static analog outputs from the controller (defined using inline code) in TIA portal it doesn't show the actual values. some example values we get are as below:

ANOUT [X] (SINT: 1 Byte) = 1 --> TIA Variable (SINT:1Byte)= -1

ANOUT [X] (SINT: 1 Byte) = -1 --> TIA Variable (SINT:1Byte)= 1

ANOUT [X] (SINT: 1 Byte) = 0.001 --> TIA Variable (SINT:1Byte)= 32

ANOUT [X] (SINT: 1 Byte) = 0.18 --> TIA Variable (SINT:1Byte)= 10

ANOUT [Y] (INT: 2 Bytes) = 1 --> TIA Variable (INT: 2 Byte)= -129

ANOUT [Y] (INT: 2 Bytes) = 0.32 --> TIA Variable (INT: 2 Byte)= -2776

When we send the same values from the PLC to the controller conversion is completely different from above.

Could someone explain how this conversion is done, because we are using same data types on both the ends but still getting unknown (for us) values.

How do we get the actual values from the Robot to the PLC and vice versa?

Thanks

Thank you panic mode for your suggestions

We left the controller switched off over the weekend and when we switched it again SmartPad started working. It was just temporary though, it went off again after a cold re-start (Nothing changed in between).

SmartPad was not connected to any other controller (not at least since we bought it).

I re-stored the old project and tried to re-start the controller, but no luck.

We have our KLI IP set to 192.168.55.--

I could see in the Diagnostic monitor -> smartPad driver (kcp3Driver), the IP of local smartPad is 172.16.0.254

Are these two supposed to be in the same range? because it worked once with the same configuration (with different IP ranges) on both.

not quite sure if it is a hardware or software issue.

Hi All,

We have a new (refurbished) KRC4 Robot with KSS 8.3 and HMI V8.3.

Every time we switch on the controller, orange screen appears on the SmartPad for few seconds and then it goes off (black) forever. But when we connect the PC in KRC to a monitor we could see that smartHMI got launched successfully without any errors. SmartPad was working fine for the first couple of days before this happened.

Is it a problem with configuration of the IP address of SmartPad in the HMI? If so, where do we find it (I tried but no luck). How does it work though, does the HMI access the SmartPad and launch the software there? or is it the other way around?

PS: We haven't changed anything except for Profinet I/O declarations.

Could someone suggest if we can do anything to troubleshoot the issue further before sending it back.

Thanks

Pavan

Quote from panic mode

i would have leave SafeOperation installed, and simply deactivate it using straight forward instructions from the manual. but it would take 5min to skim through those 50 pages.

I talked to the KUKA support guys, they said it is not possible to skip or disable Master reference test as long as SafeOperations is active, Also the communication is not possible if SafeOperations is disabled, at least not without modifying or replacing MFC3 and CI 3 Tech boards.

I re-installed the SafeOps and everything is back as before, looks like I need to install a reference switch and deal with the tests.

panic mode I got the manual of the tech package and I have gone through it, but I couldn't find anything about disabling SafeOps. Could you please help me with a reference or please let me know if I am missing something here.

Did you find any solution??

panic mode Thank you for your inputs.

I have uninstalled the software KUKA.SafeRobot, as suggested in the manual. Well it actually said uninstall it and restart. But after the restart It is showing some errors regarding SafeRDW and SafeRDC.

Do I have to disconnect or by pass something in SafeRDW box? I do not have much documentation with me as it a very old robot that we got from a university a long time ago, so I might be missing some important documents.

If I have to disconnect all connections to Safe RDC, do I have to bring the robot to a stable position (transportation pose).

Please ignore the data mismatch and mastering warnings.

even after running the brake test, robot stops every two hours with below error message, triggered continuously until message buffer overflows.

Message: Ackn. Cyclic check of request for calibration not done.

Can we at least increase the time period between mandatory brake tests?

Fubini That will be a problem as SafeRobot requires brake test. I can't bypass (comment the line out) it manually without disabling the SafeRobot

Could someone suggest how I can disable Kuka.safeRobot V 1.1.5, so that I can bypass the brake test in C\KRC\Roboter\Config\User\Common\MotionDrivers\ motiondrv.in.

Hi All,

I have a KR 210 L with KRC2 controller V 5.4. I am using it for some temporary additive applications with the help of an extruder.

I normally generate tool path in Rhino-Grasshopper and transfer the SRC file to R1 folder using a pen drive. But when the file size is bigger (in this case 1800KB), I am not able to copy it to the controller, also it doesn't throw any errors.

Is there any work around to make it possible? What is the size limit for a single SRC file?

is there any other way to transfer (more like export) files to the controller considering the version I am using?

Also the robot stops every 2 hours with brake test error, which I normally acknowledge and continue the paused program. Can we remove it? as some prints take more than 5 hours and it needs to run without a break as extruder's response is not as quick, it ruins the resolution of the print.

Please let me know if you need more data to help me with the mentioned issues.

Thank you

Thank you for your help. you were right we finally found some damaged cables.

Hi All,

I have recently started working with KRC2 robot. Robot was working fine when I started but then suddenly one day It started throwing multiple errors in the following sequence i.e.

-> Calibration reference switch defect

-> SafeRDW szstem error 3002 [3]

-> Drives contractor off

-> Brake test required

Robot has an extruder, but I checked the cables and there is no damage (external) due to heat.

Could someone help me troubleshoot the issue.