Posts by poljachina77

Quote from Fabian Munoz

Hi

I have a program that I could email you were it shows the application

Basically, you set up low and high values on a variable , run the torque command and make decisions.

We use it for vision and pickup. We find the part, we go to pick it up and if we crash (torque value ) in the process, the robot returns, takes another picture and we start again.

Send me a message with you email if you want it

Hello.

I am working on a simmilar thing that you described with a Epson Scada robot. I have to press to a backrest in order to cut a part.

Would you be willing to share the code ?

My idea is to use TC Lim function and then lower the Z axis until torque reaches a certain amount, so that I will know if I pressed on the backrest.

Cheers.
Aleix

Hello all.
I am working with the following robot controller and the robot from Epson:

Epson RC70 & LS3-B401S robot

I am picking up parts from the end of the vibrator and then the robot must position the part over a cutting station. The cutting cuts the pins to the desired length. This cutting station is designed so that the part needs to be slightly pressed onto the backrest of the cutting tool to have the correct length of the pins that it cuts.

Is there a way to controllably press the gripper to the backrest? Torque control of the Z axis perhaps?

If anyone has done something similar, please point me in the right direction.

Thank you in advanced.

Cheers

Aleix

Quote from dexterv

Can someone tell which axis/axes are soft in the video, I would have guessed he is measuring the torque on A5, but in one of the attempts the robot is not hitting the bolt on the flange but the wrist end which I would think would not work for A5.

Hello.

Yes a bit more info would be great for me to. My guess is that in order for this to work axes 2 to 6 need to be in soft servo mode. At least this is how my aplication behaves. Axes 2 to 6 move when parts are being inserted in to the test machine.

Cheers

Quote from DannyDJ

Hello, i think you need to something like this 😉

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I think that you might be right... does do robot return back up as soon as it touches an obstacle?

What functions are used here?

Best regards.

Aleix

Quote from panic mode

another option is to limit the current during certain moves so arm is "soft"

Hello, Could please you give me some more information please how to achieve this?

By soft you mean that it allows for wiggle room? How does this affect the accuracy of positioning?

Cheers

Aleix

Quote from ljuba

ofcourse you can do it differently.

You can monitor the torque and if it get to certain limit abort the move, with interrupt.

That way you can prevent the robot from collision it self and further damage.

Hello.

Yes haven't thought of it this way...

So my montion where most of the collisions are hapening is on the Z axis, so If I monitor torque on Axis 3 to 6 this sould let me detect the collision beforehand...

Can you please help me out how to do torque monitorning? How are the torque variables declared, do I write the monitoring in SPS??...

Hello.

Not all parts are ok, so they get caught on the nest and the robot gives me the collision error.

Can't do it any differently unfortunatley.

Hello all.

Thanks for the input so far. I've managed to write the exit procedures with your help, but still I can't acknowledge the collision errors that happen sometimes.

Is it possible to acknowledge a collision error while in EXT mode with the PLC?

If I try to acknowledge it I get an additional warning...

Are there any limitations as to what can be confirmed with the PLC ?

Thanks, Cheers

Aleix

Hello all.

I tried the PTP move that Fubini mentioned. It works if a previous PTP move was executed. But if a previous move was stopped because of an error the move does not work. The error was that the speed for A1 is not defined or something like it. Can't remember now(will post it on Monday). So, I programmed a straight up PTP move to get out of the danger zone so that I don't damage the part in the gripper or the griper/robot.

The thing that bothers me is this.

I run my main program in EXT mode. THE PLC starts the robot, starts the program and the Robot program runs. But if an error occurs (in my case the robot detects a collision because, some time a part is slightly damaged and it doesn't fit in the test nest where the robot wants to place it). The robot program stops.

So, I try to acknowledge and reset the collision alarm with the $conf_mess. But I just get another waring message instead... Can't remember what it is. I will post it on Monday.

Are there any limits to what this, $conf_mess confirms...?

Cheers

Aleix

Hello.

Thanks for the input. I might also do a PTP move for 5 mm and then a linear move for 195 mm. So that the move will be more ''linear''.

Cheers

Aleix

Hello all.

I am using the following equipment:

KUKA KRC4 with Profinet-Profisafe (KSS 8.6)

KUKA KR6-900 Robot

S7-1200 F PLC (Tia portal V15.1)

I have started to write the scenarios where the robots stops because of an error (collision monitoring, emergency stop and so on...)

I have a lot of positions where the robot might stop where the first move should be straight up on the Z coordinate in order that the parts don't get damaged. Is there a possibility to execute a PTP move from the current position straight up for 200 mm?

So, a PTP move + actual position + 200 mm only on the Z coordinate

Thanks, in advanced.

Cheers

Aleix

THe GSDML files are stored where WorkVisual is installed on your computer.

In my case it's here:

C:\Program Files (x86)\KUKA\WorkVisual 6.0\DeviceDescriptions\GSDML

Hope it helps.

Hello.

Thanks allot! I am already looking in to it...

Best regards.

Aleix

Hello.

I removed the CONT from the in-line forms. That did the trick... but

The robot is stopping on points now of course, I am gonna try and play with where can I get away with the CONT function tomorrow.

What about my method of calling the modules, is this OK or are there any drawbacks that I am not aware of? Bear in mind that I am totally new to robot programming...

Cheers

Aleix

Hello.

I looked in the Profinet manual (KUKA_PROFINET_MS_50_en.pdf), but I can't seem to find what I'm looking for. The profisafe side is explained so no problem there...

I can't seem to get my head around how to start the robot via profinet...

Hello.

Thanks for the info.

By aproximation you mean that I set the aproximation distance to 0 in the in line form?

Cheers

A

Hello all.

I am using the following equipment:

KUKA KRC4 with Profinet-Profisafe (KSS 8.6)

S7-1200 F PLC (Tia portal V15.1)

So far, I have set up the communication with the Robot controller and the PLC over Profinet/Profisafe, this works.

I made an I/O table for the Robot controller and the PLC to communicate. So, with a certain input I call a module where a motion program is written. At the end of this motion program I set that a job was done and then wait for the PLC to reset the input that triggered the execution of this module and then I also reset the job done bit.

Main program example:

DEF MainProg ( )
   
   LOOP  
      WHILE di_GoHome 
         GoHome()
      ENDWHILE
      CONTINUE
     while di_VstpTrk_P1_Start or di_VstpTrk_P2_Start
         TrakPickup()
      ENDWHILE
      CONTINUE
       
      WHILE di_VstTM1_Start or di_VstTM2_Start or di_VstTM3_Start or di_VstTM4_Start
         TRF_2TM()              
      ENDWHILE
      CONTINUE
      while di_OdvTM1_Start or di_OdvTM2_Start or di_OdvTM3_Start or di_OdvTM4_Start
         Odv_TM()
      endwhile
      CONTINUE      
      ;--Natikanje matice--
     
   ENDLOOP 
   
END

Example of a module goHome() :

EF Home_Rutina ( )
   
;FOLD PTP HOME CONT Vel=100 % PDAT12 ColDetect[1];%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=HOME; Kuka.BlendingEnabled=True; Kuka.APXEnabled=False; Kuka.MoveDataPtpName=PDAT12; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=1; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
;ENDFOLD
$BWDSTART = FALSE
PDAT_ACT = PPDAT12
FDAT_ACT = FHOME
BAS(#PTP_PARAMS, 100.0)
SET_CD_PARAMS (1)
PTP XHOME C_Dis
;ENDFOLD
      CONTINUE
      do_VIzhod_VstpTrak = TRUE
      CONTINUE
      wait for not di_Izhodisce_VstpTrak
      CONTINUE      
      do_VIzhod_VstpTrak = FALSE
   ENDWHILE
   
END

In short this is how I wrote the logic in the Robot controller. Almost too simple, right?

But I have more complex modules where I have several motion commands, followed up by a gripper control and in the end always the same procedure that is in the goHome module. I set the ‘OK’ bit wait for the start bit to be reset and then reset the OK bit again. When this module is executing, I get this error: Sequence of instructions that cannot be approximated – KSS01442

What advice could you give me so that I avoid getting these errors.

Thanks

Cheers

Aleix

Hello.

Thanks for the info. Solved the connection problem right away when I set te bit you suggested.

I have a follow up question regarding the Profinet communication with the robot.

I successfully mapped the first 32 bytes I/O bytes (the controller is configured for 256 I/Os in TIA Portal) of the Profinet communication so that I send JOB requests (a JOB is a motion to a specific location) to the robot and I get back the information when it is in position. This works fine.

But now I would like to run the robot in external mode. I am used to control servo drives from siemens where you have a control word and a status word. I guess that here it's similar, but I don't know the structure of the control word and status word...

On the smart pad I found this - Display - Inputs/Outputs - Automatic external

My guess is that this is the control and status word's. Can you please point me in the right direction so that I know where to read them and where to change them with the PLC.

Thanks, in advanced.

Best regards

Aleix

Hello all.

I also am trying to get the Profisafe connection to start working but so far havent found a solution.

I am working with a S7-1214F CPU

KRC4 - compact controler with KSS 8.6 and the Profisafe option

In the TIA portal there are no errors regarding the profisafe configuration, but on the KRC 4 side there is the following error:

KSS15002 Safe device communication error - see the attached error

Has any one ever encoutured this error? What cold be the cause? The profinet connection however works fine.

Cheers

Aleix

Hello all.

So, the robot is placed in our robot cell and connected to power. We wired the position sensors on the grippers and connected them to x41.

My guess is that I have to configure and determine the address of the input in WorkVisual or on the smart pad. Also, the addresses to operate the solenoid valves for the grippers that are integrated in the robot.

I've looked in the diagnostics for the I/O's on the smart pad, but I cant seem to find the active inputs.

I was searching for a manual on how to do this but didn't find anything...