Page 1 of 1: Hi All, I’ve got a pair of KUKA KR robots with the GM KRC1 Control Cabinets. Looking for some information to get my robots up and running. Page 1 of 1: hi ‘m New to this subject, and I count on you to help me. I will buy a kuka kr KRC1 for milling, and would like to know your. In the KUKA Download Center you will find our CAD-Data, softwares, specifications and much more. Download them here for free.
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January 01, Quick question, or at least I hope it’s a quick one.
I’ve developed an application on the first robot, and using the floppy drives am attempting to transfer the program to the second by copying the corresponding.
However, when I load the disk into the second robot it does not register that the. Any tips or tricks to get the program to port over and compile correctly? What am I missing? March 15, Advertisement Guest Advertisement Guest. I’ve managed to figure that something like that was happening. I am in fact copying the. The message is common to all three programs I’m attempting to copy over down to even the line and column numbers, line 61, col I’ll keep plugging away at it but if someone has a suggestion to make I’ll gladly hear it.
Also if it helps both robots are running V 3. The more i dig in the more I believe the above to be the case. The first robot I managed to run still had pretty much all the old programs, subprograms, and other bits leftover and I believe when I wrote the initial program it still references these programs somehow.
I’m unsure of exactly how to break these links and maintain the integrity of the program so that it compiles correctly, other than re-writing the program. The error message should report the actual line number in the DAT file that is causing the error.
You’ll need to open the. If you can post that line, or, heck, just post one of the. DAT files that has the error along with the full details of the error messagethat might help.
How are you creating these programs? If you are simply using the “New” button on the teach pendant, the robot is probably using a default template that may have some customizations from the previous owner s. That’s one potential cause. If you log in as Expert before creating the new program, you should may? I haven’t touched that KSS rev in decades get a menu of templates to choose from. The “empty” or “Expert” templates should eschew any of the potentially troublesome customizations.
Another thing to try: If you have problems going both ways, that suggests that both robots have customizations that are incompatible. This can be resolved, but could take some work, and would require knowing the full details of what options each robot has installed. SkyeFire- Not on site today, but I will post back with the line information once I’ve opened it on a computer, likely in a few days.
I have pretty much been using the create new button and a “Non-Process” template to create my programs, and this is where I think my problems truly begin.
Further, I can’t exactly recall being able to create an “empty” or “expert” program, though I did not know to look for those options in the first place. Next time I’m at the robots I’ll give this a closer look to see if it’s available. As for creating programs on the production robot and copying it back to the dev robot, I’m one step ahead of you and tried this immediately following my previous post.
Unfortunately I get a very similar message Near exact, actually. I’ve tried commenting out the referenced line but it just propagates further errors. From similar experiences doing systems integration and troubleshooting with other non-robotic types of controllers I’ve seen where that path leads and I can tell you it isn’t fun.
That being jrc1 case, not a lot to do until I’m in front of the machines again. I’ll try your suggestions and see what my next steps are. kgc1
KUKA KR W/ GM KRC1 Getting Started – GUIDE in KUKA Robot Forum – Page 1 of 1
Thanks again, I really appreciate the support and assistance. Hopefully I can repay the favors in the future to the next guy with similar problems. So firstly – Expert khka transfer without hassle, no compilation issues thus far. My only additional issues now are relatively minor and I expect to be able to figure them out just by virtue of working with the robots, but I’ll ask a few questions here to get me pointed the right way when I luka back to my desk.
From what I’ve previously assumed, the.
KUKA KR150 W/ GM KRC1 Getting Started – GUIDE
DAT file that accompanies the program includes the points and their kjka. My issue thus far is that the two robots do not appear to have the same coordinates for the named points after the transfer. The originating the program has a simple test X-axis movement in the global plane. When I transfer the program to the other robot I get a more vertical movement.
I’ve got a dummy tool programmed in both robots, and dimensions of that are the kjka on both robots. Is it possible or likely that I’m accessing differen coordinate data for the named points that was previously programmed in the robot? If so where is this data stored?
Reflecting on the problem in even more detail, it is also likely that I’ve programmed a point with the same name previously in the robot receiving the new test program.
Obviously the quick fix to test this is to create a program with a completely new set of point names not used previously in either robot. I do intend to test that, but I must ask – if there are duplicate point names and you ukka a program transfer, which point takes priority?
This also leads back to where is this data stored if not only in the. DAT files for the programs? Thanks ahead of time for any help – I really have appreciated the assistance.
A position always are the coordinates of the tcp related to the base. If the two tcps or bases on the two robots are not identical they will krv1 different related to the world coordnate system.
March 19, Hermann – thanks, I’ll take a look, chances are very, very high my bases are different coordinates. There are a couple tricks here. When creating program points on the pendant, you have the option to select Tool and Base from a list of 16 or so of each.
There is “hidden” kuja folded up inside what looks like a single-line motion command that actually sets the Tool and Base values and speed, approximation, continuous, etc. Both of these approaches work — however, it can get tricky when you start mixing the two. As for KRL program modules — basically, the.
DAT file is for variables positions, motion parameters for those positions, any other variables with module-wide scopeand the. SRC file is for executable code. Whenever the value of a. DAT file variable is changed, the. DAT file is altered to match. May 24, November 08, June 23, September 16, ,