Hi all, it works to clone the heathly drive of another robot to a new SSD, then restore the archive on top of that, even though there is a small different in batch version 5.5.14 to 5.5.13.
After the restoration, robot data copy has to be performed to align data between RDC and SSD.
Thanks.
Hello
If it won't load the archive, you can still manually put programs on the robot and everything you need (config, steu...)
Can you be more specific ? Thank you
if the two robots have same version of KSS and same tech options, then loading HDD image from one HDD to another and then restoring archive would work.
if the versions are not the same or when installed options are not the same, restoring archive will not work, not to mention that this would likely violate licenses.
some products are tied to serial number. KSS is not (at least not in software, but it is in license).
i would say before overwriting corrupt HDD, compare AM.INI of the two archives to see if the version are really the same.
also try to still make backup... at least the D:\ as this would get you installers of software options that your archive has (the EXACT versions). So if restore fails because one of products is not exact version, one can at least uninstall cloned one and install original (assuming it was not affected by corruption).
Hi Panic, thanks for the response.
Those 2 images have the same tech package option versions. There is only a different on the patch number of KSS version 5.5.14 and 5.5.13. Could it be a problem ?
Hi all,
I have robot with KRC2 ed05 controller and KSS 5.5.
The HDD of the robot is corrupted as I already checked. Unfortunately, I dont have any image backup or disk backup for this one, just only program archive.
My question is, can I clone the disk from a healthy robot to a new disk then restore the archive into this cloned disk? Those 2 robot have the same configuration and all the option packages. My only concern that the KSS software is linked to robot serial number.
Thank you.
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.
Display MoreHi 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 !!!!
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,
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
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:
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.
| DECL GLOBAL INT MXA_COMM_MODE = 1 |
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,
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).
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-expres…c6-c50ab10cd624
You can refer to this tutorial, the link will expire in 14 days.
