Posts by Tarun goyal

I tried changing the value of the variable, but apparently once the welding has started the changed value will not reflect on the robot.

So, is there a way, where I can change the weld parameters while welding?

*************Equipment details*********
Make: Fanuc
Manipulator: Arcmate 100iC/8L
Robot controller : R30iB Plus
Weld Power Source Make : Lincoln
Weld Power Source : Power Wave® R450 Robotic Power Source.
PLC - Allen Bradley - Compact Logix 5380
Communication protocol - Ethernet (PLC -> Fanuc robot controller -> Lincoln Weld Powersource)
*****************END*********************
Can anyone tell me the variables for the weld parameters ?

e.g. I know the variable for Travel Speed i.e. $AWESCH[1,16].$CMD_WSPEED

I want to know the variables for wire feed speed and Trim

Thanks in Advance

Quote from MOM

you have to assign a value to it, then the values are saved

the thing is the value of the variable changes when the program is executing so i can't assign it a constant value

Hey everyone,

I have KUKA controller KRC4 with KSS 8.3

I have declared a variable with real data type in config.dat file and used it in SPS file and an .SRC file ,so when the robot is restarted with cold start method the last value of the variable is lost which causes error in SPS file.

So can anyone help me with how i can store the last value of the variable if the controller in cold started...….

TIA

Quote from colinb83

I do belive this was mentioned in a kuka xpert notice, from what I recall it was along the lines of yes this can happen, but it won't cause permenant damage and the imprint will go away, go have a look on xpert

And do you know there is an option where if pendant is not operated for some time ,the screen turns black where one has to turn the key switch of pendant on/off can u tell me how can I activate it ?

Quote from colinb83

Press the white button, and unplug it.

why would you need/want to do this anyway?

When I navigate the screen I see some imprints of the previous screen I believe it's damaging the screen so I need to do it

Hey everyone,

I have KUKA KRC4 with kss 8.3.36 and HMI version 8.3 B403

I want to if I can turn the smart pad (teach pendant ) screen off if it is not operated for some time despite of any program it is executing.

TIA

Quote from SU05LLY

This is crude but will get you going:

Declare the following in $CONFIG.DAT or a PUBLIC .DAT if you've created one:

GLOBAL SIGNAL oSPS_Green $OUT[***]

GLOBAL SIGNAL oSPS_Amber $OUT[***]

GLOBAL SIGNAL oSPS_Grey $OUT[***]

within SPS.sub:

IF ($PRO_STATE0 == #P_ACTIVE) THEN

oSPS_Green = TRUE

ELSE

IF ($PRO_STATE0 == #P_STOP) THEN

oSPS_Amber = TRUE

ELSE

IF ($PRO_STATE0 == #P_FREE) THEN

oSPS_Grey = TRUE

ENDIF

ENDIF

ENDIF

But don't forget to negate once the other condition is met.

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Thanks man will try it for sure

Just for my knowledge can you tell me what's the difference between $PRO_STATE ,$PRO_STATE0 , $PRO_STATE1 ??

Hi all!!

I have kuka C4 controller which is running kss 8.3

I want to give the status of robot interpreter to a high end controller like PLC e.g if the robot interpreter is green it should make an output high

I have made the following logic but output 46 doesn't get false even the $pro_state value is changed

IF ($PRO_STATE == #P_ACTIVE ) THEN

$OUT [46] = TRUE

ELSE

$OUT [46] = FALSE

ENDIF

Hey everyone,

I have KR160R1570 NANO C4 FLR with Krc4 which is running kss 8.3

Below mentioned is the payload details of the robot

Rated Payload- 160 kg

Mounted payload- 150 kg

Payload used - 93.75%

Can anyone tell me what is the recommended payload capacity that we can consume ??

Hey everyone

I have a kuka robot controller Krc4 with kss 8.3

I wanted to compare two strings

My code is

IF $ACCU_STATE == #CHARGE_OK THEN

$OUT[4000] = FALSE

ELSE

$OUT[4000] = TRUE

ENDIF

I want to check ( #CHARGE_OK OR #CHARGE_UNKOWN)

but it can't be done. So is there other way to check it in my code ?

I have also attached a picture of the code !

Hi Vlad

Can you tell me what value is displayed after putting the variable $MOT_TEMP[5]

I have KR 270 R3100 ULTRA C4 FLR with kss 8.3

Can anyone help me with maximum motor temperature permissible for the robot axis motors??

Thanks in advance

Hello helpies !!!!!

Can anyone tell me how can I get temperature value of robot controller as I have read in this forum that the kuka controller has two temperature sensor one inside and other one outside, so it would be of great help if I can get the both values

I have kr c4 controller with kss 8.3

Thanks in advance

Quote from Fubini

The logic behind this system variable is coded inside the robot controller VxWorks binary software files. There is nothing you can watch. The timer is running whenever at least one axis is in control/regulation. I think this is explained in system variable documentation. The timer unit is [ms] if I remember correctly. Timer resolution is 2 ms.

Fubini

So is it when the drives of the robot are switched on by the external hardware like PLC the clock starts?

Can any one help me on how $ROBRUNTIME variable gets its value and where this logic is written in kuka file system

I have kr c4 kss 8.3

Quote from panic mode

network them and on the robot side map the values to outputs that PLC can read.

this will need use of WorkVisual unless network is already there with spare I/Os.

declare some signals in $CONFIG.DAT like:

SIGNAL A1_TEMP $OUT[201] to $OUT[208] ; 8-bit is enough for degC

SIGNAL A2_TEMP $OUT[209] to $OUT[216]

SIGNAL A3_TEMP $OUT[217] to $OUT[224]

then in SPS loop add

A1_TEMP=$MOT_TEMP[1]-273 ; convert Kelvin to degC

A2_TEMP=$MOT_TEMP[2]-273

A3_TEMP=$MOT_TEMP[3]-273

on the PLC side read the values and do as you please.

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How 8 bit data will return decimal value without using P00 module.

I have KSS version 8.3.32,currently we have encounter external fan failures and for that i want to start External fan health monitoring.To monitor the Health i thought of checking its RPM,after searching i found that $CAB_FANSPEED can be used.But after using this variable it returns the value zero.It turns out that the variable is of no use in systems manufactured after 2011.Is there any way in which i can check the External fan health??

I have KRC V8.3.32 and i wanted to send robot's motor temperature to higher controller(PLC).I know $MOT_TEMP[] can be used to get Motor temperature values but i don't know how it can be sent to the higher controller. Is there any way?

TIA!

Thanks a lot i will try it