Beiträge von kiethnt

Dear all,

Now, I just begin with RS V5.06 and RobotWare 5.07 both software are installed probarly in my PC. After I finished with creating a new robot station, I could create a new system by using Controller Menu and click Add system.
Add System and New Controller appear that request I must fill up all parameters such as: Controller key, Medial Pool and RobotWare version 5.07 4002.04 and then finish these step as attachment pic.
After finishing set up for Add system, A virtual Controller 2 logo appears with a message box ABB Robot Studio: There was a problems with starting the virtual controller (please see attachment pic)

Dear all,

I already checked my RS V5.06 with RS V5.10 and I saw that In this version we cannot create solid 3D, is it alright? If can please show me how to create solid 3D object.
For simple object, we can import from library but my RS Library is not enough such as Geometry folder so I would like ask you where can I get RS library? Now I ready need Geometry libray for my project, If you already have please give me. Many thank for your support

Dear all,

I'm using RS V5.06 and try to create a new station, in my station I need to create 3D object such as Cylinder and some simple object. However when I choose import library in Menu File and browse to Geometry folder, result that folder is empty. So I would like ask everyone who have Geometry library (*.rslib) or any new library please give me.
One more thing, Now I have Robot Ware V5.07 and already install in my PC, however when I create a new robot system by finishing with a New controller System Wizard, an error is appeared with message box. So I would like all of you is there any uncompatible between RS with RobotWare? And how to solve this prolem.
Many thank for your help.

Dear Stromer
Many thank for your reply.

After I press Select System button, there is no system appears in dialog box. So you means that I should install a new system in FlexPendant alright?
As your mentions as above, the easy way is using a back up in Robot Studio online , so i want to ask where can I get it and How to it? Please show me in detail because I'm not familarly with this system.

If I don't have a back up, you means I should create a new system in Robot Studio Online and get the key-strings from ABB. So can you show me how to create a new system in Robot Studio online and where can I get key-string from ABB? You can send email to me by kiethnt@yahoo.com

Many thank for your help

Dear All,

My robot system is IRB4400-M2004 and robot controller is IRC5, Robot Ware V5.07 4002 that is installed in 3 months ago, another PC is installed by Robot Studio Online.
Normally all system run stability, however after my friend do some tasks on studio online (I don't know exactly what he done), the start up sequence is fault, that s describes in more detail:
I start up robot controller IRC5 again by switch on the main switch, after Boot Loader running, on FlexPendant appears Boot Application dialog box with 4 buttons: Install System, System Setting, Select System and Start Controller. I pushed Start Controller button again and the start up sequence still stop at Boot Application box.

So I would like ask all of you:
1. What is wrong with start up sequence of IRC5?
2. Is there any problem with robot controller and RS Online?
3. Do I need to install system again? If so how to do it?
I have refer on Trouble Shooting Manual and saw that we can Install System by USB but I don't understand what does it mean? In restart types I saw there are 5 different ways to restart such as B, I, P, X, C start and which one i could choice to restart again?
Any one known this problem please show me detail. Many thank for your help

Dear all,
Any body who have a hardware connection diagram of IRB4400 and IRC5 please give me because now I facing with a trouble of an error "Over temperature of DRV1". Please help me.

Dear all,
Any body who have the manual of IRB4400 and S4C+ please give me? My friend just gave me a crack version of ABB Robot Studio V 5.0 but I known how to use it so I would like ask all of you Is there any guide book to use this software? If so please show me. Thank for your support.

Dear all,
Actually all points in my program are import from text file by off-line programming system, so I see these points are not lie in the straingt line. So I have to try all setting with $CIRC_TYPE=#PATH and $CIRC_TYPE=#BASE but it still be error when robot move to CIR motion. Please have me check again this problem. Thank in advance all.

Dear IrrerPoterer,
all the program I attached robot program as below, in which I include Linear motion and CIRCLE motion, the robot executed all Linear statement properly but when the program move to CIR statement the robot will stop immediately and the message alsway indicates in message box as following:
CIRC Parameters not alowed.
Could you explain to me more detail meaning of this error? as show me How to show this problem?
Here is main program CONTOUR.src
&ACCESS RVO
DEF CONTOUR ( )
;FOLD INI;%{PE}%V2.2.2,%MKUKATPBASIS,%CINIT,%VCOMMON,%P
;FOLD BAS INI;%{PE}%V2.2.2,%MKUKATPBASIS,%CINIT,%VINIT,%P
INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
BAS (#INITMOV,0 )
;ENDFOLD
;FOLD A20 INI;%{E}%V2.2.2,%MKUKATPA20,%CINIT,%VINIT,%P
IF ARC20==TRUE THEN
A20 (ARC_INI )
INTERRUPT DECL 6 WHEN $CYCFLAG[3]==FALSE DO A20 (TECH_STOP2 )
ENDIF
;ENDFOLD
;FOLD A10 INI;%{E}%V2.2.2,%MKUKATPARC,%CINIT,%VINIT,%P
IF A10_OPTION==#ACTIVE THEN
INTERRUPT DECL 4 WHEN $CYCFLAG[2]==FALSE DO A10 (#APPL_ERROR )
INTERRUPT DECL 7 WHEN A_ARC_SWI==#ACTIVE DO A10 (#ARC_SEAM )
INTERRUPT DECL 5 WHEN A_FLY_ARC==TRUE DO A10 (#HPU_ARC )
INTERRUPT ON 5
A10_INI ( )
ENDIF
;ENDFOLD
;FOLD GRIPPER INI;%{E}%V2.2.2,%MKUKATPGRIPPER,%CINIT,%VINIT,%P
USER_GRP (0,DUMMY,DUMMY,GDEFAULT )
;ENDFOLD
;FOLD SPOT INI;%{E}%V.2.2,%MKUKATPSPOT,%CINIT,%VINIT,%P
USERSPOT (#INIT )
;ENDFOLD
;FOLD TOUCHSENSE INI;%{E}%V2.2.2,%MKUKATPTS,%CINIT,%VINIT,%P
IF H70_OPTION THEN
INTERRUPT DECL 15 WHEN $MEAS_PULSE[TOUCH_I[TOUCH_ACTIVE].IN_NR] DO H70 (6,CD0 )
INTERRUPT DECL 16 WHEN $ZERO_MOVE DO H70 (7,CD0 )
INTERRUPT DECL 17 WHEN $TECHPAR_C[FG_TOUCH,8]>0.5 DO H70 (8,CD0 )
H70 (1,CD0 )
ENDIF
;ENDFOLD
;FOLD USER INI;%{P}%V2.2.2,%MKUKATPUSER,%CINIT,%VINIT,%P
;Make your modifications here
;ENDFOLD
;ENDFOLD

;--------Initialization section--------

;--Definition of coordinate system with Tool--

BASE={X 0,Y 0,Z 0,A 0,B 0,C 0}
SPRAYGUN={X 0,Y 0,Z 260,A 0,B 0,C 0}

;--Definition of Axis Velocity and Accelerate--

$VEL_AXIS[1]=20
$VEL_AXIS[2]=20
$VEL_AXIS[3]=20
$VEL_AXIS[4]=20
$VEL_AXIS[5]=20
$VEL_AXIS[6]=20

$ACC_AXIS[1]=20
$ACC_AXIS[2]=20
$ACC_AXIS[3]=20
$ACC_AXIS[4]=20
$ACC_AXIS[5]=20
$ACC_AXIS[6]=20

;---The point positions is import by UltraEditor 32 here---
;List test point use for Off_line programming of KUKA Roboter

P1={X 1400.0,Y 0.0,Z 400.0,A 90.0,B 0.0,C 180.0}
P2={X 1385.1,Y -14.9,Z 385.1,A 90.0,B 0.0,C 180.0}
P3={X 1385.1,Y -14.9,Z 385.1,A 90.0,B 0.0,C 180.0}
P4={X 1385.1,Y -14.9,Z 385.1,A 90.0,B 0.0,C 180.0}
P5={X 1385.1,Y -14.9,Z 385.1,A 90.0,B 0.0,C 180.0}
P6={X 1390.1,Y -9.9,Z 390.1,A 90.0,B 0.0,C 180.0}
P7={X 1393.63,Y -6.37,Z 393.63,A 90.0,B 0.0,C 180.0}
P8={X 1395.1,Y -4.9,Z 395.1,A 90.0,B 0.0,C 180.0}
P9={X 1395.1,Y -4.9,Z 395.1,A 90.0,B 0.0,C 180.0}
P10={X 1406.48,Y 6.48,Z 406.48,A 90.0,B 0.0,C 180.0}
P11={X 1411.2,Y 11.2,Z 411.2,A 90.0,B 0.0,C 180.0}
P12={X 1481.85,Y 81.85,Z 481.85,A 90.0,B 0.0,C 180.0}
P13={X 1515.74,Y 115.74,Z 515.74,A 90.0,B 0.0,C 180.0}
P14={X 1529.47,Y 129.47,Z 529.47,A 90.0,B 0.0,C 180.0}
P15={X 1529.94,Y 129.94,Z 529.94,A 90.0,B 0.0,C 180.0}
P16={X 1530.9,Y 130.9,Z 530.9,A 90.0,B 0.0,C 180.0}
P17={X 1530.9,Y 130.9,Z 530.9,A 90.0,B 0.0,C 180.0}
P18={X 1530.9,Y 130.9,Z 530.9,A 90.0,B 0.0,C 180.0}
P19={X 1529.89,Y 129.89,Z 529.89,A 90.0,B 0.0,C 180.0}
P20={X 1529.47,Y 129.47,Z 529.47,A 90.0,B 0.0,C 180.0}
P21={X 1515.74,Y 115.74,Z 515.74,A 90.0,B 0.0,C 180.0}
P22={X 1481.85,Y 81.85,Z 481.85,A 90.0,B 0.0,C 180.0}
P23={X 1411.2,Y 11.2,Z 411.2,A 90.0,B 0.0,C 180.0}
P24={X 1405.84,Y 5.84,Z 405.84,A 90.0,B 0.0,C 180.0}
P25={X 1395.1,Y -4.9,Z 395.1,A 90.0,B 0.0,C 180.0}
P26={X 1395.1,Y -4.9,Z 395.1,A 90.0,B 0.0,C 180.0}
P27={X 1398.56,Y -1.44,Z 398.56,A 90.0,B 0.0,C 180.0}
P28={X 1400.0,Y 0.0,Z 400.0,A 90.0,B 0.0,C 180.0}
P29={X 1431.43,Y 31.43,Z 431.43,A 90.0,B 0.0,C 180.0}
P30={X 1432.6,Y 32.6,Z 432.6,A 90.0,B 0.0,C 180.0}
;-------MAIN PROGRAM-----------

$TOOL=SPRAYGUN ;tool center point definition for Spray Gun
$BASE=$WORLD

BEGIN ( ) ; Call subprogram BEGIN

;--Move robot arm follow definition point by import from UltraEditor 2 software--

$VEL.CP=0.2
LIN P1 ; 100mm/sec; CNT25 ;
LIN P2 ; 0mm/sec; CNT25 ;
LIN P3 ; 0mm/sec; CNT25 ;
LIN P4 ; 0mm/sec; CNT25 ;
LIN P5 ; 50mm/sec; CNT25 ;
LIN P6 ; 100mm/sec; CNT25 ;
CIRC P7,P8 ; 100mm/sec; CNT 25 ;
LIN P9 ; 100mm/sec; CNT25 ;
CIRC P10,P11 ; 100mm/sec; CNT 25 ;
LIN P12 ; 100mm/sec; CNT25 ;
LIN P13 ; 100mm/sec; CNT25 ;
LIN P14 ; 100mm/sec; CNT25 ;
CIRC P15,P16 ; 100mm/sec; CNT 25 ;
LIN P17 ; 100mm/sec; CNT25 ;
LIN P18 ; 100mm/sec; CNT25 ;
CIRC P19,P20 ; 100mm/sec; CNT 25 ;
LIN P21 ; 100mm/sec; CNT25 ;
LIN P22 ; 100mm/sec; CNT25 ;
LIN P23 ; 100mm/sec; CNT25 ;
CIRC P24,P25 ; 100mm/sec; CNT 25 ;
LIN P26 ; 100mm/sec; CNT25 ;
CIRC P27,P28 ; 100mm/sec; CNT 25 ;
LIN P29 ; 100mm/sec; CNT25 ;
CIRC P30,P31 ; 100mm/sec; CNT 25 ;
BACK ( ) ; Call subprogram BACK
END

DEF BEGIN ( ) ;Subprogram BEGIN

$VEL.CP=0.2
PTP {POS: X 0,Y -1050,Z 1500,A 0,B 0,C 90,S 2,T 10}
PTP {POS: X 1050,Y 0,Z 1500,A 90,B 0,C 90,S 2,T 10}
END

DEF BACK ( ) ;Subprogram BACK

$VEL.CP=0.2
PTP {POS: X 1050,Y 0,Z 1500,A 90,B 0,C 90,S 2,T 10}
PTP {POS: X 0,Y -1050,Z 1500,A 0,B 0,C 90,S 2,T 10}
WAIT SEC 2.0
END

In KUKA robot, I would like ask all of you: How many way to program circle motion CIRC in KRL? Please show me why the robot can not move with CIRCLE motion when I program like this:
; point definition
P1={X xx, Y xx, Z xx, A xx, B xx, C xx}
P2={X xx, Y xx, Z xx, A xx, B xx, C xx}
; main program
CIRC P1, P2
In more detail please see attachment file as below:

Dear all.
I don't know where I could post my message but I solicit every body try to read my email care fully. For robot off-line programming I use G_code of CNC machine to convert to KUKA program so I would like ask all of you who known about this or have any program can do like that please give me. Any help at all would be greatly appreciated. Thank in advance and have a good weekend.

Dear Mr Lindemann,
I would like to say thank during last time for your support so now I have some problem about using KUKA Sim more:
1. My robot is KRC1 and KUKA Sim V1.0 but I don't understand why I can not download robot program to KRC1 via floppy disk (notice that is made on KUKA Sim by push KRC icon and then export to KRL file .src).
2. I f I want to download that program via Ehternet, please show me how to do it?
Many thank for your support.

Sorry LindePaul,
I still not understand clearly your answer. You means that we can not get data from external PC both of serial communication and Internet in KUKA OfficeLite enviroment.

Dear LindePaul,
My robot system has implemented with KUKA OfficeLite but untill now I do'nt see any document guide to use this software so I would like ask you some question about using KUKA OfficLite:
1. Can I use CREAD, CWRITE,COPEN,CCLOSE statement on KUKA OfficeLite to communication with External PC?
2. If so, please show me how to do this?

I don't think so because I have to check the configuation of serial communication there is have XON/XOFF in serial.ini file. Please see the attachment file below:
Anyway I want to say thank a lot for your mention.

Dear LindePaul,
My robot is K15_1 with serial number 00913 - 1996 and robot controller (V)KR C1, GUI Version V2. 2. 8 core system KS V2.38 release 1998. All these information I get in KCP of robot.

Exactly, but I just begin with Borland Delphi and now I don't have enough time to write this program again, there are manu thing to do for graduating student now. Any way I would like to say thank for your commemt. Best regards

Dearr Hemann,
Many thank for your warning, but there is a big trouble so I need to overcome to graduate for master degree. And there is a reason why I ask you too much. I tried with your program written on Borland Delphi but I cannot compile them because you sent to me not enough file. Is there any different way to make the coomunication with KRC1? please let me know if you have another way. Thank you.

Dear LindePaul,
Now everything run OK, I really thank for your support during this week. However now I still have a big problem that are:
1 when I use SER_SIM.exe on Win 98 then all data is transmitted OK without any error as "No DLE response" but when I try this program on Win XP the result is error still have when the second data is transmitt. For me this error indicates because there is a different operating system between my PC and KUKA robot controller. Could you please help me check problem again? and show me the way to trouble shoot this problem. If I can not solve this problem in this month maybe I can not finish my thesis at the time.

I'm a newbie of robot offline programming, now I 'm using UltraEdit32 v12.2 so I would ask all of you who have experence about this tool please show me:
1. How to create a simple program for KUKA robot file.SRC by using UltraEdit32?
2. From a list of point in text file .TXT if I want to export this file to robot program file .SRC what could I do?
3. Please give me a manual or tutorial of this tool if you have.
Many thank for your help