Posts by DS186

Quote from TitusLepic

That's normal. Set $DMAURST (deadman auto-reset) to true if you want the fault to reset when you pull in the deadman instead of requiring a push of the "reset" button.

This is only working for controllers with software version older than V9.40. Since software version V9.40 there is a new DCS parameter called "TP Enabling Dev Reset" which secures the $DMAURST variable.

When changing TP Enabling Dev Reset to ENABLE then $DMAURST automatically also changes to TRUE.

If the parameter is set to TRUE it is only possible to automatically reset the "Deadman released" alarm. Other alarms reuire to push the reset button.

Quote from Remo Fargnoli

Hello good evening I am finding that the Robot kuka KRc5 gives as alarm group SBH1,2,3 is active and this causes the automatic cycle to drop. How can I solve it? Thanks in advance

The SBH1 ... 6 inputs are controlled by your safety PLC. Check the safety program running on the PLC.

You can also enter the value for the velocity argument from the FlexPendant.

For this you can use the cycle stop input (CSTOPI) from the UI signals. The behavior/reaction of the cycle stop input can be configured in the System/Config menu under MENU > SYSTEM > Config > CSTOPI for ABORT and Abort all programs by CSTOPI.

You can also set $PR_CARTREP to TRUE and use this code:

PR[1]=UFRAME[1] ;
R[1]=PR[1,1] ;

With the sytem variable $SI_UNIT_ENB set to TRUE you can enter the payload data in SI units (kgm²). The default setting is FALSE (kgfcms²).

You should ask the programmers from your sister company to provide the *.KL source files. You will only find the compiled *.PC files on your controller.

You need the KAREL source code which is a *.KL file. If you don't have the original source file it is not possible to see the code.

Post

RE: How to view Karel/.PC logic?

[…]

KAREL is a compiled language and is similar to Pascal. The *.KL source file must be translated into p-code before it can be executed on a robot controller. Once the file ist translated to a *.PC file it is no longer human readable. It is then kind of a "black box". Having the *.KL file is the only way to get an insight into the source code.

DS186

Jul 6th 2023

Yes. Turn PGNO_VALID off, set the program number and turn PGNO_VALID on. Do you have the system integrators manual? In the manual there is a signal diagram for EXT mode which explains everything very well.

Quote from SkyeFire

Well, they can coexist, but "combine" is a bit strong, I think?

That's what I actually meant. But you are right, coexist is probably the better word in this context.

Quote from Hes

Alot of stuff seems daunting like the limited "hackability" and the 2 diffrent programming languages (can these be mixed or is it either or?)

TP and KAREL can be combined but as already mentioned above, KAREL is a paid option and it has to be ordered if needed.

Quote from Hes

I've signed up for a fanuc account, any good pointers what a good place to start digging would be? Like kuka i would get to start with: kss syntax 8.x, system integrators manual, system variables 8.x as a bare minimum and go cover to cover. What is the equivalent with Fanuc?

I would say the basic operation manual (e.g. B-83284EN/10) is a good start and covers a lot of the basic stuff.

You are right. Thanks for sharing your solution. I completely missed to think about that "easy" approach.

Open the main menu on your smartPAD and select Configuration > Inputs/outputs > Automatic External. There you can configure all inputs and outputs for the EXT interface.

Except of the PGNO_TYPE you have to set up PGNO_LENGTH, PGNO_FBIT and some other variables.

Check the manual for system integrators for detailed information about the settings for the Automatic External interface.

Quote from Lpoels

Thanks for your reaction, so only to interconnect them as hardwire is possible? Not possible to arrange it to Rack86 for the ethernetIP signals?

It is also possible via network protocol. You can assign rack 36 to DIs (see my first post) and connect these DIs to DOs which are assigned to rack 89 (or whatever rack). For this, you can e.g. use a BG Logic task or the IO Interconnect function.

Quote from Lpoels

Now I would like to extract the DCS signals from the cobot to know the safety status in the PLC. Is it possible to link these Safety output settings (SPO, SSo, SIR, CCR, RPO, FSO) to a Digital Output? So that I can read this in the PLC??

You can assign the different safe IO types to DIs by using rack 36. See chapter 9 of the DCS manual for detailed information about the different slot numbers. You could then either interconnect these DIs to DOs or use a BG Logic task to monitor the status and send it to your PLC via DOs.

This behavior can be set in the UAS settings. The grant is "Log off FlexPendant user when switching to Auto" (or similar).

Quote from Austin

What is a CIP safety Input and Output ?

CSIs and CSOs are inputs and outputs send over a safe network protocol, e.g. PROFIsafe or CIP Safety.

See chapter 9 of the DCS manual for detailed information about the different input and output types.

Just a short explanation, configure 2 DOs to Rack 36, Slot 0, Start 1-32, e.g. DO[50] to Start 1 and DO[51] to Start 2. After that, you can use NSI[1] and NSI[2] in DCS Safe I/O Connect and connect NSI[1] to SSI[7] and NSI[2] to SSI[8]. Once this is done, you can toggle the DOs to change the mode between AUTO and T1. If you also need T2 you have to create the required logic for this in Safe I/O Connect.

Be careful, this method is not recommended because the mode selection is no longer safety rated. DOs and NSIs are non-safe. I would strongly recommend to either use a suitable safety device for the mode selection or to uninstall External Mode Select from the controller and use the physical mode switch.

I'm out of the office at the moment. I will share it this evening.

Quote from johnsk8

Can i change the mode from TP with out mode switch?

You can basically configure External Mode Select in a way to change the mode from the TP. However, (except of temporary use for e.g. commissioning) I wouldn't recommend it because it is a non-safe workaround.

The official and safe way to change the mode from TP is the (paid) TP Mode Select option (J768).

Do you have a safety PLC which is connected to your robot controller?