Error Messages to PLC

[presage]

I want to get the error message and possibly the notification messages from a KRC to a PLC over the devicenet.  I see that the error messages are stored in the $MSG_T variable, does anyone have any documentation or examples of how they have transferred error/notification message numbers from this variable into a SIGNAL so that I can pass each individual number out over the devicenet?

Once a error/notification message is copied, can you clear it from the error message queue so that you can transmit the next message?  In case there is more than one active error message.

[SkyeFire]

Well, $MSG_T is only used for user-created messages.  The built-in robot system messages work at a deeper level, not normally accessible from KRL.

If you want to have user-created messages appear in tandem on both the KCP and a remote device, then most likely you will have to build a message-handling program that uses a common database of messages on both ends, and transmits the appropriate message number to the PLC whenever it posts one to the KCP.  Also, you can have this program respond to signals from the PLC or to buttons on the KCP, whichever.

If you want to send system messages to the PLC, that's a different proposition.  You could put a routine in the SPS that constantly checks the IsMessageSet() function against a list of system message numbers.  However, you would have to handle the different message types differently.

[presage]

Yes, I want to send system message numbers out fo the KRC controller without having to purchase Kuka KRmsgNET as I don't need all the function that come with this addon package.

I am using v5.5.9, is this a new function in v5.6 because I have never come across this function IsMessageSet().
Do I need to upgrade my controller software?

[SkyeFire]

No, IsMessageSet() is an undocumented system function that's been around for a while.  You can learn more about it by searching for it using the forum's Search function.