Exellent! :)))
Will try...
Posts by Henry Sheppard
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BUT AUTO is still inactive with strange error
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No any fences
Just KRC4 and arm.But I found the strange connector or switch (looks like magnetic one).
Maybe it is "safety switch" for safety fence's door?
Thatz it:
h_t_t_p_s://yadi.sk/i/mIQEL142k2bAtQ
BTW - my $machine and $option from STEU/Mada:
h_t_t_p_s://yadi.sk/d/ocFw6h-3I0h0bA
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Seems work, but a bit buggy
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i am not sure i understand the process:
1. robot is moving vertically on a straight line,
2. encounters something that triggers interrupt,
3. saves that position (while continues moving),
4. then upon second trigger returns to that saved point,
5. continues vertical motion.
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It's right!
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Ok!!! Tnx!!! Will shoot&screen all I can
The problem is really interesting and venturous But I need a few hours...
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So that is the "safety gate"? The big orange "blinded" connector in X11? It's connected...
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:))))
I don't know that You mean as "safety Gate"
X11? I asked message ago
Yes - connected. X11.I think if it will be connected nonproperly I'll have a lot of troubles with T2
I think I must fix not only $MOVE_ENABLE $IN[216].
A 3 or 4 variables use $IN[1025] - some looks logic, but some variables can show troubles in comparision
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If You mean the X11 as safe-connector - yes, it's connected.
I just emulate the "recovery"-flash, then collect VxW, WinCE, KSS... I said I'm not bad hacker. All works fine in T1/T2 modes. Then I get this robot it hasn't even HDD. Nothing. I even activating the $MEAS_PULSE instead classic inputs trougth some hard-relays, 'couse i haven't any hardware like classic BECKHOFF or something like.
KSS is 8.3.14 - as far I know this is not so old version. And all works exellent except AUTO-mode.
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Don't know about 216... don't know even there I can check the physical contact.
I said I can't download any descriptions now
And the robot hadn't even VxW and "resque"-flashstick, KSS and any configs then i began to resque it :))) It hadn't even HDD then I found it I reassemble and reanimate in from fully nude hardware It works in T2 after 3 months of funny hacking, but not in AUTO mode. -
What to do?
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Hope I found the problem...
Real path: c:\KRC\Roboter\KRC\Stew\Mada\$MACHINE.DAT
=====================
SIGNAL $MASTERINGTEST_REQ_EXT $IN[1026] ;TRUE = Referenzfahrt angefordert (extern)
SIGNAL $BRAKETEST_REQ_EX $IN[1026] ;TRUE = Bremsentest soll gestartet werden
SIGNAL $BRAKETEST_MONTIME FALSE
SIGNAL $MAINTENANCE_TO_PLC FALSE
SIGNAL $BRAKETEST_REQ_INT FALSE
SIGNAL $BRAKETEST_WORK FALSE
SIGNAL $BRAKES_OK FALSE
SIGNAL $BRAKETEST_WARN FALSE
DECL EMSTOP_PATH $EMSTOP_PATH={T1 #ON,T2 #ON,AUT #ON,EX #ON} ;PROJEKTIERUNG DES BAHNTREUEN NOT-AUS FUER T1,T2,AUT,EX
SIGNAL $EXT_START $IN[220] ;EXTERNER START
SIGNAL $MOVE_ENABLE $IN[216] ;FAHRFREIGABE GESAMT
SIGNAL $RC_RDY1 $OUT[200] ;RC-BETRIEBSBEREIT 1
SIGNAL $SPOC_MOTION_ENABLE $OUT[1015] ; FAHRFREIGABE DURCH SAFETY CONTROLLER
SIGNAL $ALARM_STOP $OUT[201] ;NOT-STOP
SIGNAL $T1 $OUT[216] ;BETRIEBSART T1
SIGNAL $T2 $OUT[217] ;BETRIEBSART T2
SIGNAL $AUT $OUT[995] ;BETRIEBSART AUTOMATIK
SIGNAL $I_O_ACTCONF $OUT[140] ;E/A-SCHNITTSTELLE AKTIV QUITTUNG
SIGNAL $MODE_AUTO FALSE
SIGNAL $MODE_TEST FALSE
SIGNAL $LOCAL_NETWORK_OK FALSE
SIGNAL $COMPLETE_NETWORK_OK FALSE
SIGNAL $EXT $OUT[218] ;BETRIEBSART EXTERN
SIGNAL $STOPMESS $OUT[1010] ;STOP-MELDUNG
SIGNAL $CONF_MESS $IN[218] ;EXTERNE QUITTUNG
SIGNAL $USER_SAF $OUT[1011]
SIGNAL $PERI_RDY $OUT[1012]
SIGNAL $IN_HOME $OUT[1000] ;ROB IN HOMEPOSITION
SIGNAL $IN_HOME1 FALSE
...
SIGNAL $IN_HOME5 FALSE
SIGNAL $DRIVES_ON $IN[217] ;ANTRIEBE EIN
SIGNAL $DRIVES_OFF $IN[221] ;ANTRIEBE ENABLE
SIGNAL $ON_PATH $OUT[997] ;ROB AUF BAHN
SIGNAL $PR_MODE $OUT[138] ;HAND/PROGRAMMIERMODUS
SIGNAL $SS_MODE $OUT[139] ;HAND/SINGLE-STEP
SIGNAL $ALARM_STOP_INTERN $OUT[1002] ;NOT-STOP INTERN
SIGNAL $WORKSTATE1 FALSE
....
SIGNAL $WORKSTATE8 FALSE
SIGNAL $CYLWORKSTATE1 FALSE
.....
SIGNAL $CYLWORKSTATE8 FALSE
SIGNAL $AXWORKSTATE1 FALSE
......
SIGNAL $AXWORKSTATE8 FALSE
SIGNAL $ASYNC_AX1_P $IN[1026]
.......
SIGNAL $ASYNC_AX6_P $IN[1026]
SIGNAL $ASYNC_AX1_M $IN[1026]
.......
SIGNAL $ASYNC_AX6_M $IN[1026]
SIGNAL $ZUST_ASYNC $IN[1026]
SIGNAL $NEAR_POSRET $OUT[147] ;ROBOTER IN TOLERANZFENSTER
SIGNAL $COLLISION FALSE
SIGNAL $COLLISION_STOP FALSE
SIGNAL $I_O_ACT $IN[1025] ;E/A-SCHNITTSTELLE AKTIV
SIGNAL $SAFEGATE_OP $IN[1025] ;SAFETY GATE ON PATH STOP
SIGNAL $MOVE_ENA_ACK FALSE
SIGNAL $COLL_ALARM FALSE
SIGNAL $COLL_ENABLE FALSE
SIGNAL $IMM_STOP $IN[1025] ;NOT-AUS VON DER SPS
SIGNAL $AUX_POWER $IN[1026] ;EXTERNE SPANNUNGSVERSORGUNG AKTIV
SIGNAL $T2_ENABLE $IN[1025] ;SAFETY-SPEED
REAL $FAN_FOLLOW_UP_TIME=5.00000 ;NACHLAUFZEIT FUER DIE FAN-ANSTEUERUNG
SIGNAL $ROB_STOPPED $OUT[1023] ;ROBOTER STEHT
SIGNAL $ROB_CAL $OUT[1001] ;ROBOTER SYNCHRON
SIGNAL $PRO_ACT $OUT[1021] ;PROZESS AKTIV
SIGNAL $PRO_MOVE $OUT[1022] ;PROGRAMMBEWEGUNG AKTIV
ENDDAT
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SIGNAL $I_O_ACT $IN[1025] ;E/A-SCHNITTSTELLE AKTIV
SIGNAL $IMM_STOP $IN[1025] ;NOT-AUS VON DER SPS
SIGNAL $SAFEGATE_OP $IN[1025] ;SAFETY GATE ON PATH STOP
SIGNAL $IMM_STOP $IN[1025] ;NOT-AUS VON DER SPS
&
needed $IN[1025] for $MOVE_ENABLE...
Damn! ^))
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!!!!!!
WHERE MUST BE THE LINE
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$MOVE_ENABLE $IN[1025]
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????
The real path...
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BTW.
$in[1025] at variable monitor is "TRUE".
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Of course. But then monopoly-provider activated "deep packet" you can use own proxies only with good scrambler for data. I use my Moscow' and Amsteram's servers as proxy-points. Not bad for forums and for Tele/Skype/ICQ etc, but not for massive data-transfer. DNS-resolving works as the ass of dead monkey
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Of course cold restart :)))
But:
KSS00203
General movement resolution
Caused by: KS
before pressing "start".
after first pressing "play" I get both:
KSS01356
Requires push of start button
KSS01376
Active commands blocked
Thatz all. Very strange....
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at C:\KRC\ROBOTER\KRC\STEU\Mada\$OPTION.DAT
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$CHCK_MOVENA=FALSE
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at C:\KRC\ROBOTER\KRC\STEU\Mada\$MACHINE.DAT was and "is now"
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$MOVE_ENABLE $IN[1025]
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Nothing... Just
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KSS00203
General movement resolution
Caused by: KS
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w/o any other info
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And my $OPTION.DAT
KRC4. And I need just AUTO, not AUTO EXT ;)))
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&ACCESS RV
&PARAM DISKPATH = MADA
&PARAM VERSION = 1.0.0
DEFDAT $OPTION PUBLIC
CHAR $V_OPTION[32]
$V_OPTION[]="V1.0.0/KUKA8.3" ;VERSIONSKENNUNG
BOOL $TECH_OPT=TRUE ;FUNKTIONSGENERATOR
BOOL $TCP_IPO=TRUE ;GREIFERBEZOGENE INTERPOLATION
BOOL $SEP_ASYNC_OV=FALSE ;Schalter fuer asynchrone Hand-Overrides
BOOL $LOOP_CONT=FALSE
CHAR $LOOP_MSG[128]
BOOL $IDENT_OPT=TRUE
INT $SINGUL_STRATEGY=0 ;0=NONE, 1=APPROX
BOOL $MOT_STOP_OPT=FALSE ;AKTIVIERUNG "BLOCK EXTERNAL START"
BOOL $CHCK_MOVENA=TRUE ;AB-UND EINSCHALTEN DER UEBERPRUEFUNG DER EINGANGSNUMMER VON $MOVE_ENABLE
BOOL $COLLISAVOID=FALSE ;
BOOL $MOTIONCOOP=FALSE ;
BOOL $PROGCOOP=FALSE ;
BOOL $T2_OV_REDUCE=TRUE ;TRUE = Overridereduzierung auf 10 % in Mode T2
BOOL $VAR_TCP_IPO=FALSE
BOOL $SPL_VEL_MODE_OPT=TRUE ; Defaulteinstellung fuer $SPL_VEL_MODE
INT $SPL_PTP_PARA_OPT=2 ; Defaulteinstellung fuer PTP-Spline Parametrisierung
BOOL $IMPROVEDMIXEDBLENDING=TRUE ; verbessertes gemischtes Ueberschleifen
ENDDAT
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But I have no any manual... So just ask...
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In T1 or T2 all indicators = green. But after switching the key to Auto the "I" is gray, but inside all squares are green (except the last, of course)... Strange!
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Ghm... how? What is it mean?
All needed indicators (squares in the top of remote PAD interface: "I", inside "I" and "AUTO") are green. But nothing...
I choose the T1 mode, press the gray button behind the PAD - all indicators are green. Turn key to AUTO mode... and voila - errors!
