AUT EXT with KRC2

WorkVisual only supports KRC4 range of controllers (standard, extended, compact, small size).

When doing any work on a robot, first thing to do is - read manual.
There is tons of manuals on Kuka documentation disc but you should really focus on System Integrators manual, it is 99% of things you need to know about kuka, including configuration and use of AutoExternal mode.

You don't need special hardware, any robot supports it out of box. Basic steps are:
1. create some programs
2. edit CELL.SRC so each value sent by higher level controller is associated with program(s). all you need to do here is insert program calls (check system integrator manual on program linking)
3. configure Auto External interface (choose type of interface, range of bits used for program number etc.)
4. test it

in College classes, you are the PLC. there is bunch of switches and LEDs connected to robot I/O and you need to operate them to demonstrate working Ext configuration.

Quote from nc56

Hello ,
I have a project with an KR16 and the controller is KRC2 ,well it's the first time to handle an KRC2 ,
I want to move to the AUT EXT mode , what I need exactly ? Did I need an I/O device ? which one ?
I have already the Profibus M/S PCI-CP5614 A2 installed .
Another question , did the KRC2 support the workvisual ?
Thank you .

Display More

AUT mode, EXT mode, or both?

it depends on version of manual you have there, in my case it is chapter 6.19 "Configuring AutoExternal Interface".
basic handshaking sequence is:
1. powerup drives (pulse $DRIVES_ON)
2. acknowledge messages (pulse $CONFMESS)
3. start cell ($EXT_START)
4. send program number and then pulse valid signal (PGNO_VALID)

you should check system integrators manual, there is a chapter on this including timing diagrams.
AutoExternal configuration screens have a lot signals but only few are really necessary, many are optional.
it does not mater what controls them (fieldbus or physical I/O) as long as they work.

operator should select CELL.SRC and have BCO run completed (SAK in German). then switch mode to EXT

next thing is to enable drives, this means setting $MOVE_ENABLE to true (by PLC), $DRIVES_OFF to true (inverted, can be left always high or mapped to input 1025). then using PLC check if robot drives are powered up ($PERY_RDY), if/while not issue pulse(s) on $DRIVES_ON.

when you have $PERY_RDY, check if there are faults ($STOPMESS) and if/while present, issue pulse(s) to clear them ($CONF_MESS).

if all above is done and mode is EXT (also checked by PLC), issue $EXT_START pulse to start CELL.SRC (confirmed by $PRO_ACT).

after that robot will ask for program number (PGNO_REQ). this is time to send program number and after small delay, issue pulse PGNO_VALID. when robot receives valid number, PGNO_REQ goes off. while your program(s) are running (called by CELL.SRC) you will see APPL_RUN flag on.

that's about as detailed as it gets....

Hi..

I am stuck with the same problem.

I have followed the sequence described on your post but still the Drives don´t turn on.
I am trying to start the robot from a PLC. I have followed the instructions in the integrations manuals and the timing diagrams.

I am doings as follows:

1- in T1 mode, from PLC I put the $MOVE_ENABLE to a high state.
2 - I select CELL.SRC from KCP, and then I start it by pressing the start key from KCP till it does a complete BCO run.
3 - Then I switch to EXT and verify and that the variables $IN_HOME, $ON_PATH, $RC_RDY1, $ALARM_STOP, $USER_SAF, $ROB_CAL, $I_O_ACTCONF, $STOMESS AND Inite stop all at high level, which they are.
4 - Turn-on $DRIVES_OFF and then $DRIVES_OFF

The problem is that the %Pery_rdy does not turn on. I also hear a small contactor in the kps closing and opening.
I get not erros on the KCP.

what am I missing or doing wrong?
Do I need to have the submit interpreter running during the operation?

thanks

$STOMESS is true? that means there is a fault that need to be acknowledged...

Quote from Peter Pan

what am I missing or doing wrong?

[font=verdana, arial, helvetica, sans-serif]you are not reading relevant documentation[/font]

thanks

I will check it tomorrow at work

Now, I have reading a lot of documentation. In particular for this case, i am following the configuration and procedures in section "Configuring Automatic External inputs/outputs", from "Operating and Programming Instructions for System Integrators V5.5". is there any for external mode setup?

According to the information on it, $STOMESS should not be an issue for the drives not to turn on

$STOPMESS tells that there is a severe message that prevents operation. it does not specify what message exactly, you need to read through messages or message logs. check system messages manual - it is one of the key documents.

[size=2]read pinned topic READ FIRST,

it will point you to all essentials such as

https://www.robot-forum.com/robotforum/man…ss-version-5-2/

and more specifically:
https://www.robot-forum.com/robotforum/man…ttach;attach=75[/size]
[size=2]
https://www.robot-forum.com/robotforum/man…sg1876/#msg1876
[/size]

Hello folks

I have been stuck with this issue for over a month now... I have tried everything i can think of

* I have followed the correct sequence of the Signal diagram, respecting the cycle times, but the $PERI_RDY does not turn on!
* I have read all the relevant information regarding starting the robot from the "Automatic external". I have gone through step by step what is specified in the document "Operating and programming instruction for System integrators".
* I have even taken the robot to factory state by re-installing the KSS software.
* This is a robot from 2002 but I have also updated it to the KSS V5.2.14 but still the problem persists.
* I have just changed the cell.src in order to introduce the 5 different packing programs, I have created the different src files for each packaging programs but they are still empty. Might this be the issue?

One thing that i find strange is that there are no messages or error to aknowledge in the log messages, but even after acknowledging all the message by activating $CONF_MESS, the STOMESS remains active.

Also when I give a pulse of 20ms for the $DRIVE_On, the KPS closes the contator and opens again straightway, but no messages or errors appears in the log message.

Another thing that i can think of is that the display on the KCP does not work, it is just the display, everything else on the KCP works fine, i don´t know how this can interfere with the problem that i am facing

Attached are backups files

Could anyone have a look at this and help me sort out this issue.

I dont know what else to be honest.

Any help will very much welcome.

Quote from Peter Pan

[size=2]
Hello folks

I have been stuck with this issue for over a month now... I have tried everything i can think of
[/size]

[size=2]certified training beats self-study. hiring someone could cut time down dramatically.[/size]

[size=2][/size]

Quote from Peter Pan

[size=2]* I have followed the correct sequence of the Signal diagram, respecting the cycle times, but the $PERI_RDY does not turn on! [/size]

[size=2][/size]

[size=2]can you please be SPECIFIC? are signals transferred correctly between PLC and KRC? are they mapped correctly? what PLC signals are TRUE at robot side BEFORE and AFTER you pulse $DRIVES_ON? are you CERTAIN that problem is not on PLC side? how about $DRIVES_OFF - is it staying TRUE all the time?[/size]

[size=2][/size]

Quote from Peter Pan

[size=2][/size][size=2]One thing that i find strange is that there are no messages or error to acknowledge in the log messages, but even after acknowledging all the message by activating $CONF_MESS, the $STOPMESS remains active. [/size]

[size=2][/size]

[font=verdana, arial, helvetica, sans-serif][size=2]sure sounds like $DRIVES_OFF is false[/size][/font]

Quote from Peter Pan

[size=2]Also when I give a pulse of 20ms for the $DRIVE_On, the KPS closes the contactor and opens again straightway, but no messages or errors appears in the log message.
[/size]

[size=2]sure sounds like $DRIVES_OFF is false[/size]

Quote from Peter Pan

[size=2]Another thing that i can think of is that the display on the KCP does not work, it is just the display, everything else on the KCP works fine, i don´t know how this can interfere with the problem that i am facing
[/size]

[size=2]if you can use robot in T1 or AUT, and you can change mode, teach pendant condition is ok (despite display not working).[/size]
can you configure AutoExternal interface so that $DRIVES_OFF is tied to input 1025?

Thanks a lot Panic Mode for the detailed information.

Quote

certified training beats self-study. hiring someone could cut time down dramatically.

I am planing to attend a Kuka certified course in the beginning of January

I have read carefully the information you provided and it seems that i am doing it ok.

Quote

What PLC signals are TRUE at robot side BEFORE and AFTER you pulse $DRIVES_ON?

Please check the image bellow "sinais.png"

T0 - $ALARM_STOP, $USER_SAF, $DRIVE_OFF and $MOVE_ENABLE are all TRUE.
T1 - $DRIVE_ON goes TRUE 30 ms after $DRIVE_OFF goes TRUE.

$DRIVE_OFF, remains TRUE the whole time

In image "Drive_on code.png" is part of the code that i am using to try to command the $DRIVE_ON to true.

I am following the following process to start "Automatic External"
* Select T1 mode
* Start submit interpreter
* Select CELL.SRC
* Carry out BCO RUN
* Change to "Aut EXT"
* $ALARM_STOP, $USER_SAF, $MOVE_ENABLE are TRUE
* Turn to TRUE $DRIVE_OFF
* Turn to TRUE $DRIVE_ON ( respectin the 20ms cicle).

Quote

if you can use robot in T1 or AUT, and you can change mode, teach pendant condition is ok (despite display not working).
can you configure AutoExternal interface so that $DRIVES_OFF is tied to input 1025?

I have also tied $DRIVE_OFF and $MOVE_ENABLE to 1025 to have it TRUE the whole time.
This robot has only T1 and Aut EXT modes. This robot never worked in Aut mode.

Quote from Peter Pan

This robot has only T1 and Aut EXT modes.

please read READ FIRST...

what is the exact controller type (article number)? what software? are you sure they are compatible with each other? are you sure that no other switch or input is needed to use EXT mode?

how about PLC type? why is your logic not evaluating robot operating mode?
why are you doing timing in milliseconds when this does not even work yet? 30ms is fine for production but way too fast to observe... make it 3000ms. better yet don't use PLC code, just set signals manually (force) or use physical switches as robot inputs. once you workout if robot even responds (and how), then automate it.

Panic mode;

Controler type: (V) KRC2
Article number: 00111593
KSS: 5.2.14
KCP: KCP2 00-107-264
Robot type: KR200 3 TKJGC2 FLR
PLC type: XEC-DR40SU from LG

Quote

are you sure they are compatible with each other?

Well, it is working fine, besides i was already facing the same problem with the KSS that came with controller (kss 4.1.5).

Quote

are you sure that no other switch or input is needed to use EXT mode

Well, the ESC circuit is jumpered, so no error with that . As for the inputs well, i don´t know. From the manual no other input should be needed.

Quote

better yet don't use PLC code, just set signals manually (force) or use physical switches as robot inputs.

Yeap, I have been doing so most of the time (manually forcing the variable). running in ms was just to verify a possible cause of the problem.

I will keep testing in order to find out what the issue is.