Posts by cris_alej_p

Oh thanks im going to do some tests!! thanks for your replay!!

oh thanks!! works well!!

im refering to de E-stop of system->config, because if you push the panel emergency or tp emergency or external emergency. this switch on the DO...

so i think that should exist as variable... is my theory jaja

fanuc r30ib+

Hello, im trying to find the system variables for AUT, T1, T2 and E-STOP (fanuc operators manual).

i know that i can asign a DO in the config menu, by the moment i config a some DO to flags (rack 34)... and in the system config im asigning to this "DO".

but i dont like this method... so is posible to know the variable?

i want it to consult the robot state

if ($aut)then

code

endif

sorry if im not clear with my english

Thanks in advance.

Hi, everybody.

so if i understand ok... if i dont have the .KL file i cant see the code?

i only have all of above backup, there are the .pc file and .vr.

is posible to do something?

It's what I've done.

i can only change te TEXT of Robotcontroller3, i want to change de text of C: 1.

thanks for your answer.

Good morning everyone

i´m not sure if i have to post here this question...

I´m using the roboguide version 9 (Rev x). I have a workcell with three robots but they are not in the order i want...

I attached a photo for better understanding.

I want to change the C:1 to C:3

does anyone know if it's possible?

im new in the robot programing... when can i delete de INI fold? i know that the ini of the "main" is not good to delete... there i nitialize some variables... but when i did a new modul i never delete the ini

thank you very much for your answers.

MODULE_B ()
.
.
.
;FOLD PTP exit CONT Vel=100 % PDAT1 Tool[4]:garraConPlaca Base[0] ;%
;FOLD WAIT FOR ( IN 46 'Com. Iny. 20. Expul. Lat. Arriba Fuera (O109)' )
;FOLD OUT 53 'Com. Iny. 20 Robot Fin de Ciclo (I120)' State=False  ;%{PE}
PULSE 46 'Com. Iny. 20 Pet . Modo Manual (I113)' State=True  Time=1.0 sec
END

MODUL_C ()
;FOLD INI;%{PE}
  ;FOLD BASISTECH INI
    GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
    INTERRUPT ON 3 
    BAS (#INITMOV,0 )
  ;ENDFOLD (BASISTECH INI)
  ;FOLD USER INI
    ;Make your modifications here

if (iny_placaVacia==false) then
;FOLD PTP aprox CONT Vel=100 % PDAT1 Tool[4]:garraConPlaca Base[0] 
WAIT FOR ( IN 209 'Profi SIS. ALIM- Permiso' )  ;%{PE}

sorry, I thought it was easier to summarize the code

this is the real code... the robot stops at EXIT ptp ... I THOUGH IT WAS THE WAIT (THE WAIT IS TRUE, I USE TO CONTROL THE STATE OF THE MACHINE) BUT NO, BECAUSE I DELETED AND THE ROBOT DID THE SAME STOP.

Can I get the robot not to stop?

thanks for your answer

KRC4 and KSS 8.6

Hi everyone,

Im doing a program for a robot and I have realized that when it change from one modul (B) to another modul (C) the robot stops for a second (without wait sec or something similar).

Im going to put a example for a better explanation

MAIN module

LOOP

MODUL_A()

MODUL_B()

MODUL_C()

ENDLOOP

the code inside of the MODUL_B

MODUL_B ()

PTP P1

.

.

.

PTP P2 CONT PDAT 1 TOOL[1] BASE[0]

out X

pulse x

END

the code inside of the MODUL_C

MODUL_C ()

PTP P3 CONT PDAT1 TOOL[1] BASE[0]

END

a message is displayed on the console, imposible to aproximate to "the point name"

Does anyone know why?

sorry for my english, I hope you can understand me

Hi, i have a similar error in kss 8.6.7 KRC4... but in my case the module is the PNIODriver with error number: kss14005

i tried to change the variable from true to false in the MODULES_PNIODriver.xml file but it doesnt work...

Any idea what it could be?

SOLVED: i forgot to save the file... so the solution works fine

okey! I will try to do some test with what you have told me

Thank you so much!

oh! thanks for yor answer.

Yes, it seems that you have understood me.

So, do I have to enter the workspace and work within it below the maximum Cartesian speed?

Do you know if there is another way to do it? because there is another sensor that detects if you enter the dangerous zone and Stop the robot. I just want to slow down. I am working with X13...

sorry for my english, I am using google translate

Hi eveyone,

my equipment:

- krc4

-kss 8.6.7

-microcontroller ("safe PLC")

- safety Laser Scanner

- SAfeOPeration 3.5

Im trying to reduce the speed when someone invade the warning zone. Im using a safety output of the scanner to activate the workzone where the robot reduce the speed. This is working but if the robot goes to the 100% in automatic and it is inside of the workzone and i activate the scanner, the robot stops.

the error message: cartesian velocity exceded at workspace.

this hapen if the signal is acitvated and the robot is in the trayectory between points. but if it is activated just when it reaches at the point (the robot usually stops for a short time) it does reduce the speed to reach the next point (inside of the workspace).

anyone know how to set it up in such a way that it doesn't stop?

I have also noticed that the robot stops when it reaches the edge of the workspace and it is activated ... in the configuration i removed the option of "stop at the edges" ... does anyone know why it still stops?

Hello

i have been trying to configure the profibus comunication between the robot and the PLC for days...

my knoledge is basic, by the moment i´m forming (reading the kuka manuals, watching videotutorials,...).

i have made the next configurations.

robot:

-install the GSD of the CM 1242 Slave on workvisual.

-add to ethercat coupler the EL 6731 master.

-To the EL 6731 master add the GSD of the CM 1242 slave.

-configure the first slot of the slave as "output byte".

- mapping the robto output with slave output.

- make sure the slave adress

Tia portal

-add to the project the 1200 PLC and CM 1242-5 slave.

- insert a virtual master (if this master doesn´t exist i cant upload the proyect to the slave PLC).

- set the profibus adress to cm 1242-5 (same address as in the workvisual).

- create the transfer area.

i think that with this configurations should work at least the comunication... but no.

the robot show me a error of comunication, in the PLC switch on the led of STOP and ERROR, and in the CM 1242-5 the led DIAG is switch off and the led RUN/STOP is in ambar.

The diagnosis of PLC show me.

existing module.

faulty.

led error(SF).

Does anyone know if I'm doing it right?

-KRC 4

-KSS 8.6.4

-ETHERCAT COMUNICATION

-BECKHOFF EL6731 profibus master

hello everyone at this moment i´m doing my school practices, so i´m a beginer in the area of robots programming (but I have knowledge of programming languages).

i´m trying to comunicate the robot (master, with ethercat module at the side of the robot) with a siemens PLC (cm1242 slave module) via profibus .

i have instaled with workvisual the ethercat module and i think that the kuka system has recognized, but in the smartpad appeares 1 error and two warnigs.

I think that these failures are that it cannot find the communication with the slave. I am right?

thanks for your effort!

Sorry for my english i did my best