Posts by wag_FFU

And what is going on? which trouble have you? Electric? Or you don´t know where connect the air?

Have you already solved it? I ´ve a P40 Robot where I ´m working and it is connectd to the air.

can this friex browser connect with the robot and show the Ipendant ?

The old remote teach pendant option use active x and it works only with internet explorer, I ´ve tryied different browser but no one works.

I´ve never installed the active x plug in with chrome because it is a paid options.

Hi, have you the color change option installed? Have you also the paint pro manual?

Thanks, guy, I´ll try to change the value to check if the Robot is able to perform automatic cycles without a safe PLC. The customer bought the safe option because it has other robot with the same configuration , but they are connected with safe PLC.

Good Mornign, I ´m working with a robot r30ib Sw 9.10 , the customer has bought the profinet option and auch the J931 Profinet Safety option. Now the robot pretend a safety profinet connection but the PLC is not safety.

In DCS option I can only bypass it for T1/T2 but not in Auto, is there a way to disable it? Thanks

Thanks

It´a only a question, a client reload an old image backup with an old IO config, I send him the right DIOCFGVS file, but he asked me if I could load via the FTP server (there is a VPN), but I ´ve never tried it.

The robot must be in controlled start mode to load the file, but if the file is overwritten via ftp and then the customer restart the robot could it work?

Yes, I ´read about it, but I must admit, I ´ve not fully understood How to use it.

With CMD is possibile tos elect, stop a,d deseletc a program, but the robot need §ext start to execute/resume the program?

`the Move enable cause an immediate stop or a controlled stop?

40 years ago? Are you kidding me? That thing belong to a museum!

Anyway, your idea is to declare my point global and than in the sps.scr assign my points to home_1, Home_2? Great idea, I ´ll do that, Thanks.

I read in the forum than someone has used the $Move_Enable to stop the program execution and restart the movement , and the program, with the $Ext_Start input. Is that a good idea? Or is better to use the interrupts? Thanks

yes, It was a strange and old teach pendant with the triangular shape buttons key, I worked on that robot only for 2 hours 10..12 years ago. The robot movement where terrible, klunky and with a lot of acceleration/deceleration between the points with no reason.

One question about Home positions, I have the $in_home , $in_home_1... output only when the robot is that positions. Are declared as global positions, so I can use it and save it in any programs.

Of course I can´t change the name of the position, but what about if I want to use different points name? Have I to create my global point and a routine to check the robot position and compare with these points? Or there is a list where I can write my point name and the robot will automatically compare with the current robot position? And yes, Fanuc has it.. but where are speaking about Kuka.

Thanks for the story about kuka robot and in 1025, 1026, this things are always intersting, I worked only one time with a KRC1, the 4 line black and white display was horrible!

No, I don´t have an EMD, in fact I should buy it, but the factory where the robot should be mounted use only kuka robot, they will have plenty of EMDs ( I hope...).

Thanks, I´ve planned to use the first bytes to map the communications.

Another questions, what about the calibration? Are the kuka Robots already calibrated or I have to execute some sort of "first calibration"?

Ok, I´ve installed all XML and GSD File than I need, the KUKA Manual are not clear about the file you need to configure it. I ´ve installed the Beckoff EK1100 xml, the EL6731 xml and also the EL6731-0010 GSD (I ´ve found an old Panic mode´s Thread with the File ).

If I´ve understand right, I can configure the communication with the PLC with a defined number of byte/word , like a normal Profibus DP device, and then I have to assign these byte to $in and $ out in IO Mapping between KRC I/Os and fildbus.

I can also split these bytes into bits or grouping in words and assign them to $IN or $OUT.

So I´m planning to change my plan, and don´t change the signals address in $Machine.dat but simply mapping the $in/$out to the desired PLC In/Out number

I ´ve to download also workvisual to configure the Profibus/Profinet interface . I ´m current reading the kuka manual and if I ´ve understood correctly, the CELL program must be execute to enable the kuka robot to work in automatic extern mode. Have The operator have to execute it manually and then select the automatic extern mode?

I can swap byte with the SPS, no problem

Thanks guys

Thanks, I´ll change the input output mapping to match with my configuration.

Another question, is kuka big endian or little endian? Have I to swap the byte if I send a 16 bit value to the Robot with a Siemens PLC? Thanks

Good Mornings.

I´m currently working as PLC programmer / Robot configuration . We have accepted a job with a KUKA robot krc4 and I´m in charge to write the PLC program to manage the robot and also configure the robot automatic external. I ve a good experience with Fanuc and I ve used KUKA robot somethimes, but only to teach/change programs, never configured to work in Aut External with a PLC. The robot connection is the always good Profibus DP.

The manual explain which signal are used and also the diagrams with the timing but I have some question about the signal mapping with DI/DO

I ´ve used Orange edit and I´ve found than some signal are mapped in $Machine.dat and other are configured as variable in $Config.dat.

The input and output address are configured from 1 to 1024, some in the first bits, other near 1024 ( 1025 always ON, 1026 always OFF). Can I change the input /output value to group them in the first 128 input/output number?

Sound a dummy question but I can´t find this information, Thanks