Hi to all, please an information about process data.
Are they retentive after shutdown ? Or they return to the default value ?
Thanks to all.
Hi to all, please an information about process data.
Are they retentive after shutdown ? Or they return to the default value ?
Thanks to all.
Kuka says that in the diag file there are some errors on A3 encoder.
So the robot must be sent to Germany.
Hi guys,
I have a problem with my Lbr iiwa 14 r820 and Sunrise 1.13
The robot is in aut mode and in a very random time the Plc signal that the robot is in emergency.
So I check the smartpad and tap on the safety button (that have a red light) it says me that a safety external stop is activated and that is verified a problem with the device so the safety system is in pause.
At the bottom compare a button " retry safety control " and after tap it a couple of times the safety come back to yellow state and the plc see the emergency of the robot cleared.
I remastering all the axis and perform a reference without any problems.
Is strange that all happens completely random : the error can comes two times in a minute or two times in 30 minuti but obviously when happens the machine stop.
I attach the image of the smart pad when the errors comes up.
Hi everyone, please i need help figuring out when and why i need to call the routine provided by kuka to reference position and torque. First of all I read the documentation and found that with mastering from the Teach Pendant, Kuka found the mechanical zero of each axis through the Hall sensor and saved the position of each motor. Then with the reference position routine the robot performs 5 movements (one at a time) towards 5 points indicated with the degrees of the motors and saves the values between + and - 5 degrees around these 5 points passed as parameters to the performMotions method (10 measures ). So what does it check? And why is it necessary to do this? Isn't mastering enough? Very many thanks.
Share the solution.
Thanks to Kuka.
//gripper is the tool in template
ObjectFrame tcp = gripper.getFrame("TCP");
//tcp is the new tool at runtime
tcp.move(lin(getApplicationData().getFrame("/P1")));
// Transformation.ofTranslation(x, y, z)
gripper.changeFramePosition(tcp, Transformation.ofTranslation(50, 0, 0));
tcp.move(lin(getApplicationData().getFrame("/P1")));
Hi to all. I have a question about my kuka lbr iiwa .
I'm using Sunrise 1.13 and i want to change at runtime the TCP of the tool that i create in the template. Is it possible ?
So this is what i'm doing :
//declaring my tool
private Tool tcp;
//extract tool from template
tcp = createFromTemplate("/mytool");
//extract TCP from tool
Frame new_point_tcp = tcp.getFrame("/tcp").copyWithRedundancy();
//modify the new point
new_punto_tcp.setX(207.1);
//TODO: pass the new point as the new TCP for Tool tcp
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Thanks a lot.
I had ruled out calling the src which caused the error. After 2-3 days as if by magic making the part of the code where it went wrong work again, everything works perfectly. Inexplicable.
Errors in SPS.SUB regarding TORQUE_MONITORING() mostly come from robot programs where someone copied / deleted or manipulated some of the variables TMxx of the type TQM_TQDAT_T.
May be you can post exact that line and the .DAT file, without problems with your policy. Otherwise from now on you will be on your own.
Thanks hermann.
The robot program that cause sps to fail runs since from 3 years and nobody for sure has make any modification in the code. It is very strange. I'm reading the manual and i've check the Torq_diff[1...6] variable to control the maximum deviation on torque monitoring but I found value in range beetween 20 and 40.
I think the setpoint for T12 (torque_mon - axis n.2) is 200 and the tolerance is 0 (torque_def).
I found that the message warnig
TQM <12> showed on the pendant maybe it is showed because in tm_bib.src module there is a function (TQM_INTER_STOP () ) that for all axis compare the torque_diff value with the real time value (torque T12 and impact T22) and if something is not ok i think that it stops the sps.sub
I'm tryng to understand whats happening....
I'm sorry panic, due to my policy i can't post any code.
TORQUE_MONITORING() in sps cause the stops. I'm tryng to understand why.
KRC version is 8.3.37
KSS 8.3.48
i have only sps.sub in my robot, and inside the loop there is a call to TORQUE_MONITORING() declared in tm_bib.src .
At the moment i skip the module that stops the submit interpreter and all works ok.
So i think there is a movement (SLIN) that is not ok to complete. What i can check ? There some parameter about torque in the fold of the inline form ?
Very thanks a lot.
Ok thanks a lot. I will post more details asap.
TQM looks like TorQueMonitor
Have you checked all *.src or *.dat files for errors (probably as expert or administrator - can't remember which file)
In your submit interpreter is a TQM called (e.g. variable)?
The software is the same since many years...i don't think is a software error. How i can check if a TQM is called in the sps? Is it possible to modify the torque limit ?
Notice that the message is a warning not an alarm. I don't have any alarm but the submit doesen't start.
Hi to all,
I have a problem with my KR C4. When it woks, always in the same point of the job, the submit interpreter becomes not active and the icon still red.
A warning message says: "submit interpreter is not active" TQM <12>.
Kss version is 8.3.
I cannot restart it because kuka show a message that says that there is no submit interpreter in th memory or something like that.
So the solution is shutdown and restart. But the situation repeat when the routine will call in the next cycle.
How i can do to figure out?
in KRC4 there is no ProfiNet specific hardware. ProfiNet is done entirely in software.
now that you have the system running, it would be a good idea to create backup and make sure that batteries are in working order.
Thanks a lot panic mode.
I want to share my solution to fix the error :
1) Install all the necessary packet on my wov 5
2) Send the backup project to the robot from wov > restart
3)Uninstall profinet packet from the controller by the smart pad -> restart
4)Install profinet kop file with a usb drive into smart pad (same version that it's already installed) -> restart
5)Deploy the project again from the wov environment -> restart
At this point the robot works.
I think that the problem is some corrupted file, and not the hw .
Thanks a lot for all your support
Hi,
today i installed all the kop files in my wov 5 but and deployed the project in the controller but the error remained. Any other suggestions?
In any case I cannot understand if the IO driver error is related to the profinet package that has become corrupted or to a hardware card.
Thank you very much.
ok i will try.
Depends on how you created the backup.
If you saved a project with wov, restore it with wov.
Thanks for your answer.
I have the old wov project so I can deploy that project to robot controller and see what happens ? And in order to do that I think that in my wov 5 i've need to have all the packets(like profinet) that are installed an used in the robot controller.
Did You tried to restore a good backup before reinstall ProfiNet?
To me, this looks more a corrupted configuration file than the driver itself.
Ok. But restore from a good backup you mean to do a deploy from WorkVisual (after i open the backup project obviously) ?
Anyway, to uninstall it, You must in Expert mode, go MENU > Start-up > Install Additional Software and press Uninstall button. You must reboot the controller.
This must be done by smart pad ?
Thanks a lot.
If the ProfiNet was really uninstalled, You need to install it. Depending on Your KSS version (You didn't mentioned it), You can do it from Smartpad, or from WorkVisual.
But after going this way, I would recommend try to restore an good and reliable normal robot archive (backup).
Thanks for the answer. The kss version is 8.3. The PNIO module was installed at the beginning and the machine worked for many years. But now if I go to configuration-> input / output-> I / O driver and I press the tab configuration the smart pad show me the PNIO module is installed ad if I click on it the system tells me that is impossibile to unistall it (show a lock on the name of that driver)
So how to reinstall it?