Posts by Mahmut ERKEN

Thanks for reply SkyeFire .

If I assign my speed value to a variable and I change this value via using this variable , still not ?

For example, my LIN Motion Speed is iMySpeedValue.

IF $IN[255] THEN

iMySpeedValue = 2

ELSE

iMySpeedValue = 0.2

ENDIF

Does not work ?

Hello everyone,

I have used to LIN Motion for going to Z 600 to Z 0 . My ordinary speed is 2 m/s .

For example, When the robot goes to Z 0 point and it reaches Z 300 , Can I update my speed dynamically 0.2 m/s without stopping the LIN command?

If not done, how can I do this ?

In brief, Can LIN Movement's speed be changed on the fly in transition without $OV_PRO ?

Thanks.

Mentat

;MotionParams(motion,speed,acc,apo,tool,base) ;comment

MotionParams(#Linear,2,100,100,1,11)

my acceleration is 100, approximation is 100. How can I change this acceleration and approximation for faster motion ? Should I increase this value or Should I decrease this value ?

In PTP motion, should I C_PTP instead C_DIS for faster motion ?

Fubini My PTP velocity is %100 and My LIN velocity is 2 m/s . Is 2 m/s maximum velocity ?

Hi everyone,

I have KUKA KRC4-8.6.4 Robot and Siemens S7-1200 PLC. My WorkVisual version is V6.0.16.

I am doing pick and place motion in 5 station.

My motion sorting is :

1- PTP BefPickPress C_DIS

2- LIN PickPress C_DIS

3- LIN AftPickPress C_DIS

4-LIN AwayPickPress C_DIS

5- LIN BefPickPress C_DIS

All C_DIS Parameter is 100. I have a problem about blending PTP to LIN Motion.

When the robot is running 1.step PTP BefPickPress C_DIS, the robot move what I want. After then, When the robot is running 2.step LIN PickPress C_DIS, the robot immediately slower than PTP BefPickPress C_DIS. This slower motion can see clearly.

How can I solve this problem ?

I am waiting for reply, thank you.

Thanks for reply Koppel .

How can I integrate your code into my interrupt program ? Do you have any idea about this ?

Because, I am thinking that interrupt is more healthier ..

Hi everyone,

I have KUKA KRC4-8.6.4 Robot and Siemens S7-1200 PLC. My WorkVisual version is V6.0.16.

I have a problem about searching interrupt. I wrote searching interrupt and it has worked good but If the interrupt did not find the product at the end, I want to generate an error message and stop the running program. After this, I want to start searching interrupt program again.

How can I do this ?

I would be very happy if you help

$CYCFLAG[1]=PulTuttum
INTERRUPT DECL 10 WHEN $CYCFLAG[1] DO StopSearch()
INTERRUPT OFF 10

         BefPickPul.X = 0
         BefPickPul.Y = 0
         BefPickPul.Z = 600
         BefPickPul.A = 180
         BefPickPul.B = 0
         BefPickPul.C = -180



b_partfound=FALSE
$ADVANCE=0
INTERRUPT ON 10

  SearchPart()

INTERRUPT OFF 10  
$ADVANCE=1


  IF b_partfound THEN 
    iFoundProdNo = iFoundProdNo + 1 
  
  ELSE
     iNotFoundProdNo = iNotFoundProdNo + 1
     fault(40)
     PulTut = FALSE
   
  ENDIF


CONTINUE
END
DEF SearchPart()

         BefPickPul.X = 0
         BefPickPul.Y = 0
         BefPickPul.Z = 0
         BefPickPul.A = 180
         BefPickPul.B = 0
         BefPickPul.C = -180
         MotionParams(#Linear,0.1,100,100,1,11)
         PickPul = BefPickPul
         PickPul.Z = 400 
         LIN PickPul C_DIS
         
END
DEF StopSearch()
INTERRUPT OFF 10
BRAKE 


b_partfound=TRUE
PartPos=$POS_INT
RESUME

END

Antonin and sapp2985 .. I have same problem and my configuration is very similar like yours.

Can you help me please about this topic ?

Thank you.

Hi everyone,

I have KUKA KRC4-8.6.4 Robot and Siemens S7-1200 PLC. I read Kuka KRC-4 Profinet documentation. Also I would use PROFISAFE.

WorkVisual Side ;

I configured Profinet and Activate Profisafe. Also, my profinet ID is 7 with Siemens and WoV side.

When I show IO Mapping in WoV side, I can see Safety IO ( yellow ).

These input adress you know ;

Reserved : 2.0

NHE- External Emergency Stop : 2.1

BS-Operator Safety : 2.2 etc.

But I have a problem TiaPortal side.

My I address and O address start 279. When I change this adress 279 to 2, tiaportal does not let me change and it says "this adress already being used, Next free adress 279. Finally, If I write Q281.1 TRUE, (Output Byte 2, Bit 1 refers to NHE-External Emergency Stop) , Will Kuka side's NHE-External Emergency Stop bit change TRUE or Do I need to another configuration ?

If there is something I missed, I would be glad if you could help.

Thanks panic mode,

May I connect to Robot and doing PROFINET via KLI together ? Am I wrong ?

Hi everyone,

I have Kuka KRC4-8.6.4 robot and Siemens S71200 PLC. I read Kuka KRC-4 Profinet documentation.

1 - Where can I download PROFINET (KSS) ?

2 - I have a ethernet hub. Kuka and Siemens PLC connected this hub but which port do I need to connect the ethernet cable for KRC4 ? KLI, X46 something else ....

Hi again,

I get theoritical information about how to master, measure tool and base and load data. I will apply this information in next month project.

Thanks for helping

Hi panic mode, thanks for replying.

I took basic training but I have not done a programming example yet, also I read lots of kuka documentation.

How can I reach the program samples all over the forum ?

Hello everyone,

I am a PLC and Motion Controller programmer and I am gonna try learning robotic programming. Our company has a Kuka Robot (KRC) and we hava a project with kuka robot next month. I could not get help from Kuka Technical Service about sample program. If you have a basic simple program that you use, could you please share it with me for review ?

Thanks a lot.

RESOLVED ...

The problem was about language settings of my pc. When I changed to my PC and WokVisual language to USA, the problem was solved correctly

Hi,

Thank you for repyling.

I have only one version WorkVisual. This is WorkVisual 6.0 and I am sure that I have installed one version, I did not try any version. I uninstalled WorkVisual and reinstall again, this process ended without problem but same problem continue ..

Hello everyone,

I try to programming our KRC4 Kuka Robot. When I write something(example PTP,LIN etc.) in nameKey.src, the software show me this messagebox. Can anyone help me about this error ? What is my wrong ?

Thank you.