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- เผยแพร่เมื่อ 9 ก.ค. 2024
- There is an error which I noticed reviewing the video I am calling the movement enabling button wrong, it's called deadman's switch not handbrake. I apologize for the mistake.
#Tutorial in English - Learn Kuka KRC4 basics, get familiarized with kuka smartpad.
Learn how to move the robot, how to start a program, how to bypass x11 safety signals, what are the jumper connections for the safety signals and how to change automatic external variables for PLC control.
If you want to configure Automatic External through profinet head to our previous video.
• KUKA krc4 TIA portal v...
To check the safety circuit diagram check our blog.
rebots.tk/blog/tutoriales-4/k...
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Video chapters:
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00:00 - Intro
00:10 - Types of cabinets
00:33 - Main conections
01:20 - Safety jumper x11
01:40 - Kuka smartpad view
01:55 - Change user group
02:14 - Smartpad deadman switch (in the video I call them handbreak my bad)
02:50 - Change Manual speed
03:05 - How to move in manual
03:30 - Smartpad mouse
03:55 - Joint movements
04:08 - Movement types
04:25 - World movement
05:15 - Smartpad UI (Interface explanation)
05:42 - Change movement type
06:01 - Change speed
06:17 - Workvisual projects installed
06:33 - Robot data (Name, Type, Runtime...)
06:40 - Starting a program
07:15 - Movement types in program
08:05 - Controlling externally setup
08:40 - $Move_enable signal (requires safety signals circuit)
09:45 - UltraVNC for remote desktop with the smartpad
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Wow that was super interesting I definitely learned a lot ! Thank’ s for sharing ! God bless
Wow thank you for your comment so much, really appreciate it!
Appreciate the awesome videos guys. Much better then the stuff from kuka. Could you do a auto external video for Berkoff twincat as well.greatly appreciated
Thank you for your comment, it's a great suggestion. I will make a note to myself and put it in my to do list.
Thank you sir For this 🙏
My pleasure, thank you for your kind words!
thank you very much
Thank you, my pleasure.
Thank you
You're welcome
Hii, very important for this video :)
Glad you think so!
Hi and thanks for the video. I think will be great to have a video where you explain how to movr the robot from the code, without using an inline form movement but setting up acc, vel...from the code (i think using bas module) and the write a line like "lin myPoint" to move the robot.
I think it will be very helpful.
You mean declaring global variables and then just implicitly code just the type of movement and point? Thank you that's a great suggestion for a programming video.
@@rebots Yes for example i can teach a point with the pendant. Then i can use an E6POS variable, setting up some other variable like acc and vel, and then in the code copy the point teached with the pendant into the E6POS variable then change .z axis value for example and then write the code to move to this E6POS point using the variables for vel and acc tool and base with the BAS module.
Pratically i make a movement without ILFs .
You're gonna help me land a job with BMW bro.
I'm new to the whole Kuka world I use them every day at my job and need to learn everything about them. What is the difference between T1 and T2?? And do you have a video that more specifically shows you how to manually move the robot in the middle of a program? Please advise, I will be watching all your videos and following closely, thanks again!!
T1 (Manual Reduced Velocity)
- For test operation, programming and teaching
- Velocity in program mode max. 250 mm/s
- Velocity in jog mode max. 250 mm/s
Manual mode is the mode for setup work. Setup work is all the tasks that have
to be carried out on the robot system to enable automatic operation. This includes:
- Teaching/programming
- Executing a program in jog mode (testing/verification)
In Manual Reduced Velocity mode (T1):
- Operator safety (safety gate) is not monitored.
T2 (Manual High Velocity)
- For test operation
- Velocity in program mode corresponds to the programmed velocity!
- Jog mode: not possible
In Manual High Velocity mode (T2):
- Operator safety (safety gate) is not monitored.
- Teaching is not possible in this operating mode.
- The programmed velocity is reached when programs are executed in T2
mode.
Can you teach me how to change the mode to IBN/T1 as early video. Thanks
You mean start-up mode? th-cam.com/video/mrE-fFZorVg/w-d-xo.html
change user group to expert or admin and then select service->start up -> start up mode.
1. WoV project has to match current hardware (*The project is ok.)
2. there MUST have ONE safety interface CONFIGURED. if this is missing, StartupMode can't help...
*Safety interface board(SIB), or bus safety like in the video i link in this comment. If you have profisafe it requires installing X311 jumper plug in CCU
3. External enable switch must be present or bridged
4. $MOVE_ENABLE on true
*It enables movement when dead man is pressed.
5. Safety configuration must be activated.
*By default enabled
6. Safety signals must be ok (or in this case one can use StartUp mode)
*Reset the errors
deseo conectar un plc con profinet, es que tendria una idea como hacerlo porfavor,. gracias
Si quieres conectar el robot a un plc, tengo este otro video. th-cam.com/video/eg6vnXBNJWo/w-d-xo.html
En el caso de que quieras conectar un plc con otros dispositivos, es muy parecido al video que te he pasado, puedes ver como crear una red y añadir dispositivos, en vez del kuka puedes meter otros dispositivos. th-cam.com/video/eg6vnXBNJWo/w-d-xo.html
sir, could you please share the automatic external document appeared end of your video, much apperatiate for that?
If you check our blog in the description there is a link to the document.
i can't use loop command on smartPAd. it says "Command is not allowed for a selected module" error. I can't figure out how to fix it. Pls, help me
Hi, that's weird. try write loop after the home point and endloop a few lines before the end. I don't know why kuka has the module definition hidden so if you put it outside the program scope it will fail. maybe try delete it and put the loop in a new line.
Another suggestion is capital letter LOOP-ENDLOOP
I have a question regarding light drive on, with x53.. If I connect the light directly, does it indicate when the robot break??
I don't understand your question sorry.
X53 indicates if the drives are ready or not. (but you might need to enable it in workvisual in local safety config->hardware options->input signal for peripheral contactor from KRC by default is already set but you might need to change it to plc if you are using a safety plc)
@@rebots Sorry , I meant drives ready lamp which has the connection in XG53 in KRC4 . and in my agilius it is XG 33 . it manual it shows +24v drives ready lamp and 0 v drives ready lamp . so if i connect 24vdc lamp directly to the connector , will it work without configuration ? doest related to safety ? or when the robot breaks for any fault then it will light on ? :)
Normally by default it's configured if I remember correctly.
It only lights up when drives ready, when you can move the robot, as you said in the manual 24v when servo drivers on.
@@rebots Thanks alot for your reply . I will try that then tell the result :)
I have a kuka robot kr c4
I have a problem I can not tuch up my robot
When I push tuch up .I have invalid module message how can I solve that please help me
I haven't had that problem before. Can you write the whole error message with the code? I can have a look in the error guide.
Hello. Thank you for the vid. Can you share the doc file please.
Sure, I left a link in our blog also.
docs.google.com/document/d/1f2L0BV68-yikwlLvt19IvcquR1-vm6lMRr1h-kgdZpE/edit?usp=sharing
@@rebots
link Not opening.
@@ArunKumar-vc8fy link is opening fine, you can also go to our blog site.
docs.google.com/document/d/1f2L0BV68-yikwlLvt19IvcquR1-vm6lMRr1h-kgdZpE/edit?usp=sharing
please tell me how to change welding to a milling cutter for KUKA robotics.
I want to do milling work on the KUKA robot, not welding.
How can I change the program and control panel on the KUKA robot so that I can work.
What does it take to do this.
I will leave a mail so that you can write to me. If necessary, I can pay for your advice.
Or make a video where you can talk about it.
Thanks!
I don't think you can leave emails in youtube comments. Go to our website and send us an email for consulting. www.rebots.org/