cell.src

[crs]

Hi all,

I need to be able to switch on the robot, press the start button on the working cell (an external PLC gives the robot the drive on and then start commands) without even touching the teach pendant and the robot has to start...

To do that I understand that I have to edit the cell.src, but at the beginning there's this line:
PTP HOME Vel=100 % DEFAULT
which I want to comment out (it makes the robot go to home position, isn't it?)
The robot cannot move to home position. It has to start from where it was left before switching it off, then my master program checks the robot position and takes care of moving the robot.
The master program is working but I have to select it to start. I just need it to be selected automatically.

I have downloaded the cell.src on my computer, edited, but when I try to upload it to the robot on the \cam directory the file is automatically changed and I see only a few lines...no matter if I set the user as expert or administrator.
But at the mean time, if I read the file on \cam from my computer I see it exactely as my edited file. how is that possible? 
If I try to edit it on the pendant it doesn't let me comment that line.

How can I edit the cell.src?
and what do I have to leave on cell.src and what can I comment out?

Is it correct to edit the cell.src or are there some other ways to run a program automatically when the robot is in external mode?

Thanks for you help

[jseger]

I have downloaded the cell.src on my computer, edited, but when I try to upload it to the robot on the \cam directory the file is automatically changed and I see only a few lines...no matter if I set the user as expert or administrator.
But at the mean time, if I read the file on \cam from my computer I see it exactely as my edited file. how is that possible? 
If I try to edit it on the pendant it doesn't let me comment that line.

How can I edit the cell.src?
and what do I have to leave on cell.src and what can I comment out?

Is it correct to edit the cell.src or are there some other ways to run a program automatically when the robot is in external mode?

Thanks for you help

Are the differences you areseeing because of the folds???  You can turn folds on and off by going to PROGRAM, FOLD, and then the desired command.

As far as commenting the PTP command just delete it or put jump over it.

[asimo]

Hi crs,

Maybe your problem is because you've uploaded the file directly from your computer to the right folder from Windows. The controller doesn't "see" your files changes if it doesn't "know" that you've put them there. In order to copy the files from your computer to the controller, you have to do it thru the Kuka HMI. One way is to map a drive to some server on your network with Windows like you would normally do (on the controller side). Then login as Expert in the Kuka HMI. From you computer, put the file changed on that server. Inside the Kuka HMI, in the file tree, copy the file from you newly created mapped drive to the proper folder on the controller (somewhere under the small robot icon). Then the controller will "see" your new changes. Another work around if your files are already there is to open them from the Kuka HMI, put a space and erase it, close the file and select "yes" when it will ask to save your changes. That should load your file into memory. The reason for all that stuff is that the Kuka controller runs your programs from another OS called VxWorks which is a real time OS, not from Windows XP Embedded. They communicate in the background.

For your other question, jseger already answered it: if you want to edit the line:
PTP HOME Vel=100 % DEFAULT

...you have to open the FOLD from the Kuka HMI

Hope this helps.

[crs]

Hi,

yes, it was just because of the folds!
everything is working fine now, thank you so much!