Posts by shriraj lonkar

    These are defined in bas.src. Where does your bas.src come from? Is it even part of your project and if yes does it have the necessary declarations?


    Fubini

    Actually, I created the KRC4 Project from the very initial stage mean didn't browse the project from

    KUKA robot

    I considered as there is no robot present.

    and I assigned the all CONTROLLER component in that way

    $STOPMESS==TRUE

    $H_POS=XHOME

    $VEL_AXIS[1] = SVEL_JOINT(100.0),

    $TOOL = STOOL2(FHOME), $BASE = SBASE(FHOME.BASE_NO),

    $IPO_MODE = SIPO_MODE(FHOME.IPO_FRAME),

    $LOAD = SLOAD(FHOME.TOOL_NO),

    $ACC_AXIS[1] = SACC_JOINT(PDEFAULT),

    $APO = SAPO_PTP(PDEFAULT),

    $GEAR_JERK[1] = SGEAR_JERK(PDEFAULT),

    $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)

    I created the new project in Workvisual

    I also added controller components in the controller(KRC4) and Manipulator(KR 16 L6-2 C)


    1. Cabinet Interface Board (CIB)

    2. CIB Safety Module (SION-CIB)

    3. Resistor (1.6 KW)

    4. KUKA Power Pack 3 20A (KPP3)

    5. KUKA Servo Pack 20A (KSP)

    6. EMD

    7. Safety Interface Board SIB Standard (SION-SIB-STD)

    8. 7. Safety Interface Board SIB Extended (SION-SIB-EXT)


    and then generate code is applied but still shows above mentioned variables are showing RED

    WHY


    I attached the Workvisual photos




    give me an appropriate solution

    HELP !!!!!!



    You should look at doing your dressout/cabling differently, that looks like its pretty tight to me.

    Also, looking at the speeds in your program, It doesn't seem like you are really going collaborative speeds, if contact stop is causing you issues, you could disable it in places where it's not necessary. But be sure to do your risk assessment, I'm making a judgement call off a single photo.


    I don't disagree with the Tablet TP. As I stated, it has connection issues.

    actually, I have disabled it.

    at picking and placing zones because the robot makes vibrations due to clamping of the gripper, even though I have added flow control valves on the gripper.

    otherwise, in the air moment, I kept it in cobot mode by turning off

    the NSI bit

    I am facing the same issue in CRX 10 iA/L too

    and its CRX 10 iA/L TP is not robust

    I don't know why FANUC has been providing such poor quality Teach pendant for robust operation


    I have uploaded two attachments

    1. the APPLICATION photo(MACHINE TENDING)

    and 2. communication error photo

    Really, is there any strong proof and argument from your statement

    hey it's just my suggestions for who is going to use cobots for their automation system

    because KUKA has far better system cobots than FANUC

    because currently, I am facing an issue with CR 15 iA cobot sometimes it stops even its not in contact with any object even though the part is absent on gripper its stops in the air

    hello guys


    I have been working on the pick and place of connecting rod project for the last 4 months

    I am facing a severe and irritating issue with FANUC CR-15iA Cobot (collaborative robot)


    we are running it in the production cycle for the last 4 months


    but, Due to contact stop, the cobot has frequently been stopped. that isn't very pleasant for me

    because every time I have to press the resume button.


    I have grouted the robot as per Fanuc's guidelines.

    I also checked the payload execution

    and payload with the job and without a job has been declared.

    and also used disabled the collaborative whenever it's necessary. as per the FANUC's instructions in "COLLABORATIVE FUNCTION MANUAL"

    but still, it stops in the Air even if the robot is not holding the job.


    I have shared the photos of the program sample


    NOTE: DO 200 is NSI bit (Non-Safety Input) which enables the Robot mode and disables the Cobot mode and VICE-VERSA


    After the D200 is in OFF condition its stops and shows "contact force stop" error



    PLEASE HELP

    You have DCS, so you can utilize this one. DCS position check, Target model collision


    This looks at the robot Bubbles versus the tool model. BIG thing is don't let the tool bubbles overlap the robot bubble when you create your tool model. Works really well


    [attach='34303','none','false'][/atta

    due to the weight issue, I can not use this manipulator as a cobot right now I am using it as a robot

    our part weight is 13.80 kg its Connecting Rod(CONROD)

    its execute the auto pay load weight in motion and DCS

    but whenever I am trying to run it in auto external mode (PLC Master and Robot Slave)

    It shows the weight is over load error or force monitoring error

    we also designed the gripper such as the CG of the part is in optimum position also cross-checked with Fanuc DATA SHEET excel. Fanuc also verified that this is the okay condition bus still we need to check whether the manipulator is in fault condition or not

    that's why I am using the NSI(non-safety input) to avoid the force monitoring input so the robot could run in an auto external mode without giving an force monitoring input

    Is this to stop the robot if in a forbidden area?
    If yes, this can be even done in BG logic, but the reaction time may appear insufficient for fast moves.

    Or, probably, maybe done by Interference Check, with fixture models modified programmatically on demand.

    If, however, the axis limits are intended for MROT motion, they must be system settings and yes, require a power cycle after modification.

    NO

    I WANT TO AVOID COLLISIONS ONLY DURING THE MANUAL JOGGING TO PREVENT THE GRIPPER FROM DAMAGE

    What are you trying to do? Those variables look to be correct, but they require a power cycle.


    DCS can dynamically limit an axis but would require a safety input to enable and disable.

    I WANT TO AVOID COLLISIONS DURING MANUAL JOGGING TO PREVENT GRIPPER FROM DAMAGE