Posts by ilopez

ilopez · Esclavo Profibus KUKA KR2 ilopez October 13, 2020 at 11:17 AM

Buenos días,

Tengo un cliente que posee un KUKA KR2, con una consola KRC2.

Quiere añadirle una tarjeta de BECKHOFF BK3120, para añadirle entradas y salidas al robot vía PROFIBUS, para lo cual el kuka posee una CP5613.

Entiendo pues que el KUKA deba trabajar como maestro, y la cabecera de BECKHOFF como esclavo. Si por ejemplo a esta última le doy el nodo 10, mi configuración debería ser la siguiente?:

pfbms.ini:

Code

[CP_5613/14]
DEBUG=1
LOGFILE_PATH=log/pfbms.log
ERROR_TEXT=English
FORCE_RESET=0
OLD_ERROR_DB=0

[MASTER]
MASTER_USED=1
DATABASE_PATH=init/RED_PB.ldb
FIRMWARE_PATH_A1=drivers/FW_5613.bin
FIRMWARE_PATH_A2=drivers/FW5613A2.bin
WATCHDOG_TIME=3
MAPPING_USED=0
MAPPING_PATH=init/
;DEACTIVATED_SLAVES=
WAIT_FOR_SLAVES=1

Display More

y configurar la entrada salida en el IOSYS.INI, por ejemplo:

Code

[DRIVERS]
PBMASL = 11, pbmsInit, pfbmsdrv.o


[PBMASL]
INW30 = 127,0,x2
OUTW30 = 127,0,x2

Creen que sería correcto?

EDIT: Después de googlear un buen rato, me he dado cuenta de que debía generar la red PROFIBUS mediante STEP 7, y tras ello cargarla en el KUKA. Creo que lo tengo más o menos claro, mañana lo probaré. Si a alguien le surge el mismo problema que a mí (y consigo solucionarlo) no duden en preguntar.

ilopez · KUKA KRC2 variable speed? ilopez June 3, 2020 at 8:51 AM

Thanks you very much for the explanation.

I will try and coment my results.

ilopez · KUKA KRC2 variable speed? ilopez June 1, 2020 at 6:15 PM

So that means that the robot will make the movements but they wont see it in the console, isnt it?¿

ilopez · KUKA KRC2 variable speed? ilopez June 1, 2020 at 5:05 PM

Hi again, if I have understand you propely, in this movement:

Code

;FOLD PTP ENTRAR_PRENSA2 CONT Vel=100 % PDAT24 Tool[1]:herramienta1 Base[0];%{PE}%R 5.5.33,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:ENTRAR_PRENSA2, 3:C_PTP, 5:100, 7:PDAT24
$BWDSTART=FALSE
PDAT_ACT=PPDAT24
FDAT_ACT=FENTRAR_PRENSA2
BAS(#PTP_PARAMS,100)
PTP XENTRAR_PRENSA2 C_PTP
;ENDFOLD

I should add:

Code

;FOLD PTP ENTRAR_PRENSA2 CONT Vel=100 % PDAT24 Tool[1]:herramienta1 Base[0];%{PE}%R 5.5.33,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:ENTRAR_PRENSA2, 3:C_PTP, 5:100, 7:PDAT24
$BWDSTART=FALSE
PDAT_ACT=PPDAT24
FDAT_ACT=FENTRAR_PRENSA2
VEL_PTP=Speed_Modified
BAS(#PTP_PARAMS,100)
PTP XENTRAR_PRENSA2 C_PTP
;ENDFOLD

Is this correct?

Thanks

ilopez · KUKA KRC2 variable speed? ilopez May 30, 2020 at 5:03 PM

That is really helpfull.

Really apreciated help.

ilopez · KUKA KRC2 variable speed? ilopez May 30, 2020 at 4:41 PM

Hmm that is really interesting. I understand that $OV_PRO is a percentaje that multiplies the robot actual speed.

But for example i have this loop:

WHILE (EXECUTE_PROG==TRUE)

PROGRAM_WITH_3_MOVEMENTS( )

ENDWHILE

And I only want to modify the speed of the second movement. If I havnt understood it worng, if I write that code into my WHILE loop it will modify the speed of the three movements and once each cycle of three movements. Isnt it?

PD: Really apreciated your awesome quickly answer

ilopez · KUKA KRC2 variable speed? ilopez May 30, 2020 at 3:58 PM

Hi mates,

First of all I am really new programing KUKA, so maybe my question is really basic.

A client has a KRC2 KUKA with beckhoff devicenet IO, and the want to modify the speed of one LIN or PTP movement of the program by clicking two press buttons, "+" button to increase speed of the movement and "-" button to decrease it.

I know the basic of programming, but i dont know how to program a KUKA robot. Looking the manuals, I have understood how to create the DEVICENET inputs and outputs tags, but i dont know how to create my variable "speed_wanted" with the result of the pressbutton and place it into the movement.

Could you help me? Maybe recomend any course to start programming this robots?

Any help apreciated.

Advertising from our partners