Posts by PetSven

  • Using a robot to shake something very quickly for a long time

    I want to use my Kuka KR20 (rated for a 20 kg max weight) to shake a 4 lb object for 8 hours. I am going to set the speed limits as high as they can go. Before I did this, I wanted to make sure it would not damage my robot. The only safety warning that I saw in the manual was:

    In the case of programs with the following axis motions or positions, the film of lubricant on the gear units of the axes may break down:
    Motions <3°
    Oscillating motions.
    Areas of gear units permanently facing upwards.

    It must be ensured that the gear units have a sufficient supply of oil. For this, in the case of oscillating motions or short motions (<3°), programming must be carried out in such a way that the affected axes regularly move more than 40° (e.g. once per cycle).In the case of areas of gear units permanently facing upwards, sufficient oil supply must be achieved by programming re-orientations of the inline wrist. In this way, the oil can reach all areas of the gear units by means of gravity. Required frequency of re-orientations:
    With low loads (gear unit temperature <+35 °C): daily.
    With medium loads (gear unit temperature +35 °C to 55 °C): hourly.
    With heavy loads (gear unit temperature >+55 °C): every 10 minutes.

    Failure to observe this precaution may result in damage to the gear units


    Is there anything else I should consider?

  • How do I export my new bus devices from WorkVisual to my Kuka C4 controller

    Quote from SkyeFire

    This. Definitely this. That way, you have a good project to roll back to if something goes wrong with the edits.

    Okay, will my Kuka controller have a project on it already if I have never used it with WorkVisual before? Or is this something that I only have to do once I have already deployed a project to it?


    Is this the proper way to import a project?
    Open a project in Workvisual, then click File > Import File > then select a controller and directory

  • How do I export my new bus devices from WorkVisual to my Kuka C4 controller

    I am using a Kuka KR C4 controller and a Kuka KR20 1810-2 robot. I am trying to configure my controller to recognize my Beckoff I/O ports. I have added the Ethercat devices to the bus structure of my controller in WorkVisual. I attached a screenshot of this.

    How do I export these changes to my Kuka C4 controller? And do I need to save or modify any settings on my controller before I do this?

    I have seen both the File > Export and the Extras > Deploy functions mentioned. But I am not sure which one is appropriate for making this change.

  • Can't find extension bus SYS-X44 in WorkVisual

    Nevermind, I figured it out. I had to close my open project. Then go to Catalog > DTM Management. In the DTM Management window, I had to move SYS-X44 from the left side to the right side. Then, I just had to reopen my project and it appeared under bus structure.

  • Can't find extension bus SYS-X44 in WorkVisual

    I am using a Kuka KR C4 controller and a Kuka KR20 1810-2 robot. I am trying to configure my controller to recognize my Beckoff I/O ports. I have been following the instructions in this post: Creating EtherCAT I/O connections through WorkVisual

    However, when I get to the part where I am supposed add the KUKA Extension Bus (SYS-X44) to my bus structure, there is no option to add it. I have attached a screenshot of all the options it is showing me. Any idea why this option is not showing up? I added the beckoff files already.

  • How do I connect a vacuum gripper to a Kuka C4 controller?

    I have been tasked with purchasing and connecting a vacuum gripper to a Kuka KR20 with a KR C4 controller. Right now, I am looking at either getting a RobotIQ or a Schmalz vacuum gripper. I have attached a picture of the connectors used by these grippers. However, our KR C4 controller does not have any digital I/O ports to connect the gripper too. I noticed our robot has XPP, XPN, X96 and X91 ports in its base with lines that run up its arm. It is possible to order and install a digital I/O port that uses one of these connectors in our KRC4 controller? Or is there a better way to control a vacuum gripper?


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