Messages

Hello,

With KRC4 you switch the key, enter AUT mode, switch the key back, then enable the drives (the I in SIR, so that S and I are both green) and can then start the program.
With KRC2 you have to turn the key into AUTO position, which is in the upper left corner - make sure not to use EXT (Auto extern).
Be aware that you will still have to keep the program start key pressed until the robot has reached the first axis position, same as with T1 and T2.

There is a chance that AUT mode was disabled on your robot or that you your safety setup interferes with it.

Best,
Johannes

Hello,

Thanks for sharing!
I'm not aware of any official list, but you are more likely to run into a problem with your own files, rather than the system files. KUKA|prc names the project and the definition (first line DEF) identically so that if you copy an existing file it will overwrite the old one. But you could e.g. manually rename the *.src file and then run into these issues. Maybe that's even what happened to you? Though link could be a system file as well.

Best,
Johannes

Of that particular example?

Here you go!
Best,
Johannes

Hello,

I would strongly recommend to add safety movements to avoid such problems - the Toolaxis Offset is generally a good idea as it shifts the tool by its tool axis. If you add process three surfaces with the Divide Surface component it is going to output three lists of movements. Just plug them into the Toolaxis Offset component and by default you will add an offset movement at the beginning and at the end of each list. For the robot, flatten the three lists into one list and you're good to go.

If you only want to mill in one direction, I've created a quick example as both regular components and as a cluster. As you're using the member version I've used that, but it should also be useful for anyone with the current free version. Just ignore the error messages and turn the planes into LIN movements.

Hope that helps,
Best,

Johannes

Hello,

Hmm... In the most recent version you can already click into the analysis graph and the robot skips to that position.
So basically you would like a separate "Play" button in the Analysis graph?

Best,
Johannes

Hello,

Hmmm... I know someone in Argentina who uses KUKA|prc for that, send me an eMail and I can put you in touch.
Your robot may already have a few digital inputs and outputs that you can use to control the torch, otherwise additional IO elements are not very expensive to add. It's just important that your torch has got some interface that allows you to trigger it via a digital signal.

Best,
Johannes

Hello,

I'm sorry to hear that - as I mentioned, the same happened to our (actually really good, electrician) if that is any consolation.
Generally I try to avoid giving any advice regarding the electrical or safety installation outside the robot, as that is not really my area of expertise and I don't want to endanger anyone with bad advise...!

Best,
Johannes

Hello Christian,

IBN mode is basically the same as T1, so you always have to keep the confirmation key on the back pressed.
There should be a printout with all the wiring diagrams included with your robot. In 99% of cases you can also just rely on the generic wiring in the PDF for your controller. I've attached it to this post, refer to page 54. You have to bridge E-Stop External Channel A (pin 2) with Test Output A (pin 1), E-Stop External Channel B (pin 11) with Test Output B (pin 10), etc. Just be aware that running a robot without proper safety is dangerous and of course not recommended.

I can issue you a trial version of the new KUKA|prc as I believe that the R700 version of the Agilus is not included in the public trial version. Send me an eMail to johannes@robotsinarchitecture.org

Best,
Johannes

Hello Dan,

That is "working as intended": Basically the base defines a local coordinate system through its offset from the robot's global origin. So you could either show that by placing the robot on the origin of Rhino and moving the toolpath, or the other way round. As robots - and their global origins - can be placed quite freely in 3D space we decided that moving the robot makes more sense than moving the workpiece. Otherwise you would also e.g. have a disconnect between your referenced geometry and the robot toolpaths.
The only situation where we rotate the workpiece along with it is when rotary axes are used, as it would be very strange to have the robot rotate around you in the simulation.

I hope that makes our decision clearer - as often with robot things there is no "right" way to do it, but many different ways that lead to the same goal.

Best,
Johannes

Hello,

I believe that's the manufacturer, we bought it through a local company: https://www.siegmund.com/en-us
To be honest, I still haven't managed to find the time to set it up, as the project we bought it for got delayed... ;)

Best,
Johannes

Hmmm... You lose quite a bit of material, but the looks are definitely nice! You can get very stable welding tables that work for milling (also with holes for workpiece holders etc.) for less than 1000EUR - but then of course only in standard, rectangular sizes.
In general with robots, adjusting the height of a table is useful to avoid singularities etc - but of course a height-adjustable table is less stable than a fixed table, so it's again a tradeoff.

Best,
Johannes

Hello,

We had the same thing happening when the circuit breaker was not properly dimensioned. I believe it has to be for 300mA while most common ones are 30mA.

Hope that helps!
Best,
Johannes

Hello Ludo,
I somehow thought that you were using a KRC2 controller, otherwise I could have helped you with WorkVisual!
Anyway, I'm glad you got it to work - as far as I remember, if the Beckhoff modules are pre-installed they will be in the bus structure, but you would still have to map the IOs. So there's no getting around the WorkVisual ;)
Best,
Johannes

Hello Danijel,

We can also do this on short notice, just send me an eMail via johannes@robotsinarchitecture.org.
I'm commuting from Salzburg, so I probably won't be around after 5pm - maybe they can give you a longer lunch break ;)

Best,
Johannes

Hello Ludo,

I talked with a KUKA engineer yesterday as I somehow never configured IOs with KRC2. He asked what bus system you are using to connect to the IO board. Can you give me any more details?

Best,
Johannes