Posts by Ben014

Which parts of the projects do you want to synch to the Robot, there are KRL and Configuration parts.

I have tested the program deployment from KUKA Sim to robot controller and it worked well as they develop these functions for OLP, but for configurations like Fieldbus or safety,... I'm not sure

It can work over UDP but the connection is not so stable.

You have to modify things deep inside of KSS by Putytel commands. As Panic suggested you should contact KUKA locally for the full instruction.

Quote from Rainman

Hi Ben014

Thanks for reply, I have configured my salve robot to the external positioner ,but I think there is a problem in my cell configuration in compare that with picture that you have post it .you can take a look to my attachments files .

It seems I have to defined a base between my salve robot and my external axis . (my external axis is connected to the master robot)

At the moment I am using KUKA robotTeam 3.1 and ArcTechBasic and ArcTechAdvanced .

one question regarding the motionsynch over Spline as blew !!!

When I use Spline block with Sync instruction during the welding process ,

Should I add sync instruction for each point that are included inside Spline block or not ?

to better understanding if I define a SYNC with synchronization flag to the header of Spline block is enough ?

Note: I try to use ARC SPLINE also that is included inside of ArcTechAdvanced,

one thing is amazing I can not add any motion inside of ARC SPLINE . I don't know why KUKA is provided this instruction !!!!

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It seems like you have not calibrated the external kinematic to the slave robot. It could be 2 scenarios to do that:

1- If the ref point on the EK is in range of the slave reachability, you can do direct calibration by 4 points calculation by the slave.

2- If the ref point on the EK is not in range of the slave reachability, you must perform the indirect calculation by the master, just make sure that the Roboteam calibration is already done and the error should be small enough (less than 0.5) in order to achieve the best result of the EK root calculation.

Be noted that this is an EK root calibration, you must do the offset calibration (fixture calibration) afterwards for future use!

Regarding to arctech synchronized motion:

The Synch instruction can synchronise cooperating controllers' individual motion blocks. Furthermore, this instruction can also be used to synchronize the complete spline block. As far as I tested, the entire spline block with only 1 header worked fine, but I have not tried welding quality, you have to do it yourself.

Did you open the Spline fold and add the "S" welding command inside?

Br,

Quote from Rainman

Hi friends

One think is making me busy !!! the relation ship between two welding robot that working on one positioner that is moving and controlling by master robot.

how we can transfer the position of External Axis of master robot to the slave robot. Because I see my salve robot is moving faster than master robot and when wants to stop to the last point salve robot decrease it's speed to at the end to give time to master robot to reach to the end during cooperation and welding procedure

I am using Roboteam 3.1 and My KSS is 8.6 .....

Does any body can give me an idea, Because nothing is cleared regarding this problem that I have in KUKA documentation

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Hi

which operational mode are you using T1 or AUT,EXT? My experience is the master robot may slow down in T1 but it will return to the programmed speed in automatic mode.

About the position of the external axis should not be so complicated, if you have configured already the slave robot to the positioner with the corresponding base frames, then you just need to program all the motion commands with these moving bases, without any Geolink or MotionSynch commands.

In case you want the welding lines to start and end at the same time, motionsynch over Spline is the solution. Be noticed to use the appropriate ArctechBasic version for synchronized welding commands, because the old version (<3.5) )would not support this function, you need to purchase the Arctech Advanced additionally.

Br

I had a similar project like you guys, here I would like to quote what the support guy from Mimic4maya told me:

"

There are two approaches to driving the FIZ system directly from the controller:

1. If you use Extern mode, the gear value can be used to drive the focus motors. Your PLC would have to use the gear value to look up the appropriate FIZ positions, convert them to serial commands, then send to the robot. And again, Maya wouldn't make a good PLC for Extern mode - you'd need a more robust real-time PLC solution. Also, to clarify, when I say "gear value", that's KUKA's term for the EMILY file line index, not the value of the FIZ motor gears.
2. The preferred method that a few of our users have gotten to work with the normal KRC mode - and are in the process of documenting - is to map the FIZ values into the EMILY file as a digital bitmask. Then use WorkVisual to map those as digital outputs over etherCAT to a Raspberry Pi using an EtherCAT Hat. On the Raspberry Pi, you can then convert the etherCAT digital output values back into your FIZ motor positions, then send to the motors over serial. "

Because Mimic4maya is an open source project and all of its functions are likely developed by its users. On the other hand, I have tested with another complete software solution(With a quite high price) called Mpstudio, which supports a lot of interesting features.

It seems like you can boot to Window but the KSS may have some problems.

The solution is to reinstall the SSD Drive Images by KUKA.Recovery USB (If only you already have a good Image backup and this tool), which is a KUKA tool and purchased separately.

Are you using an Officelite or a real robot?

Have you turned off the firewall, which could possibly block the connection?

To use the UDP MxAutomation connection, you have to enable this signal in mxa_config.dat.

The first thing that you need to do is to get an external monitor to perform this job.

The following steps are to reinstall the KSS:

1 - Power off the controller and wait for it to completely shuts down

2 - Plug the external monitor into the KRC PC on the cabinet door, it could be Displayport or DVI port.

3- Power on the controller, now the monitor will show the window login screen with the default user and password you can search around in this forum.

4- Go to Minizie HMI in SmartHMI Menu, in case you can still boot the KUKA HMI, where you can get the Windows screen.

5- In the window system tray, there is a green icon of the robot, right click and select stop KRC.

6- Run the setup.exe in the directory D/Krc_release and follow the steps to reinstall the KSS.

By default you only have XF8, XF1 and XF5 activated(KEB, KLI, and KSI). The other ports should have to be purchased separately by KUKA Tech Package. In the case of Roboteam or ConveyorTech, the Daisy ports can be utilized without any options, but to switch those to a KLI port extension, you still need a KOP file.

For the Smartpad Ver 2, there are more bugs compared to the 1st generation and its firmware is released quite frequently on the KUKA Download website. I would check for firmware updates first, then suspect any hardware problems in this case.

You can download the firmware update for free on my.kuka.com if you are in US, MX and CA, otherwise, you have to contact the local KUKA Representative for the consultation and upgrade it on your own because it is not so complicated. Please read the release note carefully due to some software incompatibility (Roboteam).

Br,

Quote from panic mode

none of the IO are mapped from factory. read controller documentation (MA_KR_C5_micro_en.pdf).

first thing you need to do is get WorkVisual installed and configured. that mean you need to integrate KOP files that are on D:\... of your robot. (failure to do that will result in problems later on when you try to deploy modified project from WorkVisual to robot controller.)

then you need to transfer working project from the robot to WorkVisual, save it (working copy), save as new file name (this one will be modified), configure and map the robot IO as needed, then save, deploy modified project back to robot and activate it (need Expert or higher login).

DC voltage for IO on XG12 is available on XD12/XD12.1 (clearly shown in the manual).

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Hi panic mode,

just a small trick from me, you can uncheck the option below in the workvisual to bypass the KOp integration into the WoV, because KUKA releases the Wov versions for bug fix quite frequently so It would be so annoying if we have to to the integration for every new version.

Hello,

The attached picture may help you to visualize the matrix transformation.

Br.

it should be $In[1]...., with $ as system variable definition. Oherwise, the interpreter notifies that you have syntax errors.

Hi,

$advance block is used to determine how many motion commands will be calculated in advance for blending motion running by the advance pointer(KUKA robot program has 2 pointers). Its value is 3 by default and its actual range is from 0 to 5.

For example, If you want to blend the motion, $advance value should be greater than 0, otherwise, the robot motions would be point exact, and no approximation is possible even if continuous commands are applied.

Be noted that you must know what you will read in the advance run because it not only reads the motion commands but also all the logic and calculation in between. Therefore be sure that all the calculations and logic should be put in the right place to avoid any possible collision.

Br.

There are functions called KRC_writesysvar() within the MxA library, you have to define the index number for this function and then write your own case switching code inside mxa_sysvar.src on you robot controller to call out specific modules.

Of course, you also need to reset the trigger signal for KRC_writesysvar() on your PLC(or anything else) to make it run after activation.

https://xpert.kuka.com/service…7a-4b6c-a2c6-c50ab10cd624

You can refer to this tutorial, the link will expire in 14 days.

Hello,

Conveyortech simulation with KUKA.Sim is possible but only conceptual by utilizing the conveyor tracking base component within KUKA.Sim library. But It does not support the ILFS like COnvInit, ConvON or COnFollow and you have to also use the Visual Component Interpreter, instead of RCS. If you want to have a deterministic cycle time, you must use the real robot along with Conveyortech package and appropriate hardware.

The router.exe belongs to KUKA.Proconos package for the KR C4. You should ask KUKA to provide it.

In terms of compatibility, it can work with almost all the 8.x KSS, including 8.3 to 8.6. I haven't tested with Kss 8.7 so far.

Did you check for firewall settings?

For the old version of KUKA.Sim 3.1, KRL execution must be done over Officelite.

The new version of KUKA.Sim 4.0 now offers the possibility of simulation of KRL code and also 8 multisubmits (with the complete new programming editor and interpreter) and also the functionalities of a real controller. The connection between Real controller, Offficelite or even Offline Programming System (Aka OPS) can be now established over KUKA.SIm, which helps you to transfer, load the KRL modules directly by your simulation or even monitor the motion of a real robot over KUKA.SIM. It is a big improvement of KUKA for their simulation software.

Of course, KUKA Sim can not run optional packages like EKI or RSI, just basic KRL code. But they are developing new features integrated directly into KUKA.SIM (Arctech, Roboteam, Touchsense) to support Offline programming.

You can register the KUKA.xpert account to grant the trial license for 14 days for testing.