check mastering as earlier stated also, lin movements not being linear is a pretty sure sign that mastering is not correct.
Posts by Hes
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Hi,
I'm coming from an almost pure Kuka background but will have to do some work with Fanuc in the future. What would be the main diffrences? Stuff thats good to know? Where do you find relevant programming manuals? Are Fanucs as open as Kuka to modification? Options, what are the most common? How do they compare to kuka? What hardware is used for i/o? Have anyone else gone the same way, and what is your experience? IDE for programming, what is commonly used? Are fanucs big or little endian? Datatypes any special quirks? General program structure for fanucs?
I will take a programming course within some weeks. But still would like if anyone has gone the same route or has any opinions. I'm guessing I would very much like someone to explain the details and diffrences between fanuc and kuka from a kuka programmers point of view.
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If you use is_key_pressed() to monitor for statuskey presses in a submit and react accordingly (set outputs) it does not block setting outputs even when program is running.
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i have a hard time figuring out a valid reason to downgrade. I would not expect that the hardware is compatible for such a downgrade either.
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Forgot to say $CYCFLAG must be used for the interrupt condition when the expression becomes more complex than a simple boolean. But it is simple to just assign the required conditions to a cycflag and use that in your interrupt.
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delay the interrupt by putting condition to trigger interrupt with AND ($DIST_LAST < 10.0) must be some small value but it should get you close enough to the endpoint of the motion you want to finish. Save the pushbutton action by setting a separate bool in submit as memory that it has been pushed (or toggle it back and forth, if you want to be able to cancel). For this to work movements must be sptp and not ptp
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...and robot cannot be profisafe master, only slave.
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Note some bits are reserved if you are using eg. Profisafe as safety interface and these bits must be =1 as stated in the manuals. This would be one of the more common mistakes. Also profinet name/id must match exactly.
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Almost all kuka options are paid options with very few exceptions. The only legitimate and legal way to get them is through kuka.
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Lookup "function generator" on this forum. Should give you a hint of what at least could be possible.
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did you start by loading the project from the controller and made changes to that project? My understanding is that it is very hard to start a wov project from scratch and that when you upload it to the controller it will still fetch some stuff from the base project in the controller. I'm sure some of the forum gurus around can shed some light on how uploaded projects actually work. If you started from scratch and had deleted all projects from the controller this result is something i would expect. If you started with the project from the controller and left all the initial and base projects intact i do not see this happening.
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have you got a working image of the robot? In that case take a complete image of the robot and an archive. Restore the old working image. Restore the archive you just took ontop of the newly restored image. Then you should be good to go. The image may be old, does not matter, archive will restore programs, mappings, bus configuration, etc.
If you havent got an image of a working state this will be more complicated. I would contact kuka to see what can be done. Have you fiddled with the authenticationconfig.xml or similar lately?
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a picture would be great
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this thread does not belong in the manuals and documentation section of the forum and should be moved accordingly. Please post in the correct section when making a new thread.
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where are you calling mastering and braktest?
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find the siemens equivalent servo code and put it in the neugart gearbox configurator. Or just email them the drawings and specs of the motor.
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The Space Mouse is sufficiently tricky to use that I usually just disable it entirely.
What blasphemy is this!?
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check any 8.x version of "system integrators" manual on kuka xpert. The meaning of each bit is explained in detail there.
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its been awhile since i touched anythin kuka visiontech related. But i have it in the back of my head that the standard template enables 5 attributes, but that could be modified per user requirements. This might be wrong tho, and as i said its been awhile
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Hi,
I´d like to check if this is something only I am experiencing or if it is universal for everyone.
One level STRUC´s are no problem, WV suggests the "member" after placing the dot.
But with nested STRUC´s it doesn´t seem to do so? Is there any workaround or is this something everyone has to live with?
example code:
in DAT:
CodeSTRUC stInner INT Number1, INT Number2 STRUC stOuter stInner A, B DECL stOuter TestVar = {A {Number1 123, Number2 456}, B {Number1 111, Number2 222}} DECL stOuter ArrTestVar[2] ArrTestVar[1] = {A {Number1 1, Number2 2}, B {Number1 3, Number2 4}} ArrTestVar[2] = {A {Number1 5, Number2 6}, B {Number1 7, Number2 8}}
With this it works for the first level but not any deeper.
after the first level:
If I make a nested Struc as an array it will not even suggest anything at all. ArrTestVar in code above.
It compiles fine and is absolutely usable... but you just have to remember everything by heart or look everything up all the time.
Workvisual version is 6.0.27 build 2674