Posts by Hancock Concrete

    Good afternoon, we are currently running a Kuka 210-2 with krc2 edo5 with KSS 5.6


    I am wondering if you are able to define points in a program as air movements and operation movements. As we are having to adjust run speed of the program due to different times that our parts are needing spent on the spindle cleaner. This varies from 100 percent to 50 percent. We are looking to be able to adjust the part to spindle velocity without having to slow down the air movements as air movement and part positioning are 2/3 of the program time.

    Thank you very much for the replies. That is simple enough. I didn't know if I needed to stop the advance run at the end of each program to stop it from jumping to the next before one is complete.



    Each program runs great on their own, and they all go to the home position when completed, so I will not need arguments at all. I simply just want it to complete one program after the next in order.

    Good afternoon, I have created multiple individual programs on our KRC2 210 to complete different tasks needed. I have looked through the Kuka manual multiple times on how to create a program to call the individual programs in sequence. I was taught and used this method on Fanuc and it was called call command. I'm not finding how to accomplish this in the KRL.

    I use the term we but in reality it is I.


    Don't have the Palletizing Tech Package so it will have to be raw. I am not looking for the direct answer. Looking for what route of learning to pursue for this task.


    Would there be any offline programs you would recommend for this?

    Good morning everyone.


    HLV1-900.bmpWe are currently getting ready to start programming a repurposed Kuka 210-2 krc2. We will be picking part from a pallet stack running a cleaning routine and then stacking on another pallet. Question is what would be the best way to program the picking and placing of parts. The parts will need to be picked up from the layer before picking from the next layer. Also, will need to be stacked in layers. It is hard to explain, so I am attaching image for visual.


    I have limited experience with KRL. Have searched for hours looking for information on Palletizing manual with not much luck.

    I changed it to what I just posted and also discovered that it slipped my mind to run AUX+ and AUX- to 1-8 on Module even though I did it for 9-14 and 15-16. Wired it up and set the settings as stated and it is working as intended.


    I would like to thank you all greatly for your help on this and would :beerchug: if we could.

    Hello,


    I commented out MFC and Devnet.


    Modified file to the following


    [CONFIG]

    Version=2.00

    [DRIVERS}

    ;MFC=0,mfcEntry,mfcdrv.o

    DEVNET=2,dnInit,dn2drv.0

    ;DIAGDRV=22,cp_DiagInit,diagdrv.o

    [MFC]

    [DEVNET]

    OUTB0=22,1,x1

    INB0=22,1,x1

    [DIAGDRV]



    I can now trigger the i/o BUT:


    When I set output 1 to on output 9 turns on at the module and input 9 is showing =on, on the pendant.


    Applying 24v to the pins on the module it will turn on status LEDs on the module for pins 9-16 and triggers inputs on pendant of 1-8 but does nothing on pins 1-8.

    No error messages on pendant.


    Turck module shows established connection- solid green led


    Neither LED on the MFC card is lit.


    I will go out here in few and get a debug log!


    Reconfiguration after any change, every time.


    The Diagdrv and MFC settings are not understood as the connection is made on the MFC Card but found couple different threads on here that used both...

    I don't remember if the multiplicator is obligatory or not, but on mapping section You can also try this:


    OUTB1=22,1,x1

    INB0=22,1,x1

    While searching for examples I did come across some that had it and some that didn't. I followed the Kuka divicenet Manual on that one but I can try putting them in and see it helps.


    I don't think I fully understand what specific I/O this is setting in the Kuka either. I'd like to think this is setting the mapping for input 1-8 and output 1-8, I used the jumper to trigger input and started scrolling through l/O list to about 1000 and didn't see any triggered but there is upwards of 10,000 on the list and I did not scroll through all of them.



    Mapping is done on iosys.ini, and looks ok.


    It was a long time since I touched a KRC2 with DeviceNet, but If I recall correctly, You should have DEVNET or MFC driver enabled at a time. You shouldn't have the both enabled at same time.


    I think in this case, DEVNET should be enabled, and MFC, disabled.


    We are trying to connect using the DeviceNet connector on the MFC Card. Does this make an impact on what the other things are that are connected to the NFC Port on the NFC Card? I Error on the side of caution when it comes to changing too much at a time.

    Hello, We are attempting to set up a Turck fdn20-16xsg via Divicenet and want to have 8 set as Digital outputs and 8 set as Digital inputs.


    We have wired it and set the settings as good as we can understand following the Devicenet manual from Kuka and reading multiple topics here on Forums. We are not getting any errors on pendant and the Turck Module light is solid green stating it has an established connection. 121 Ohm resistor is installed on combicom plug on Turck module and also had one on the combicom plug that is plugged into MFC Card.


    When using a jumper from 24V+ to try and simulate an input it does not show up in the I/O Monitor and when changing the output it does not switch a 24v+ reading with voltmeter.


    Robot was a Decommissioned unit from Ballard International. We think it was in an Automotive Plant.


    Robot is KR2210 2 us s c2 flr zh210

    Kernel System KS V5.6.54 RTAcc


    iosys.ini file is written as follows


    [CONFIG]

    Version=2.00

    [DRIVERS}

    MFC=0,mfcEntry,mfcdrv.o

    DEVNET=2,dnInit,dn2drv.0

    DIAGDRV=22,cp_DiagInit,diagdrv.o

    [MFC]

    [DEVNET]

    OUTB1=22,1,1

    INB0=22,1,1

    [DIAGDRV]



    devnet.ini file is written as follows


    [krc]

    debug=0

    baudrate=500

    [1]

    Macid=22



    I have worked on Fanuc systems before but this is my first KUKA and learning as we go.


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