how to select program by PLC

[alb320]

Hi guys....
my control said me then I haven't selected any program for automatic mode...
In user manual I haven't found anythink about it...
I have to select program by PLC. How I have to do?
I have a VRS1 control.
Thank you guys

[markopo]

Hi Alb320.
Topic which You choose is very large.
For the first You have to confiure External automatic. I'm think that You already made configutration of Your internal (slave) communication frame (profibus,interbus etc. Configuration of slave interbus is needed to allocate adresses (input, output). Files where You change configuration I/o slave communication is (for example) IO.sys or Interbus.sys. That is first what You need to do. Second is make configuration External automatic. You can do it on Kuka pendant. You ought to open Monitor then I/O finally Automatic external. On the first tab You have Inputs. Inputs are binars or variables. First input is binar : Drive On in external mode. This input gives You ability to turn on drives controlled by PLC or German SPS. Next is folgestart. Signal which gives robot ability to start correct choosen by you folge. The adress of first bit is in fourth Input named First input for Folgenumber. In fifth input You can change number of bytes  Length of Folgenumber.
The outputs are in second tab.
First variable define on which adress robot send number folgi in use. Lenght is configured in inputs as I writed down few lines up.
Second interesting output is Robot control ready. This signal if is high gives back there are no external fails. Because of safety rules robot can has Drives on only when This signal is high. Next two outputs gives to Plc signal in which operating mode is robot. Programing mode or Single step. Next one is Automatic External. This signal inform PLC in which mode is robot hand or automatic. Next is Friegabe Stellglieder Start.
Gives signal that robot works fine, no safety breaks or overloaded axes. And so on.
Marek

[alb320]

Hi marek!!
thank for your fast reply! this is my precious solution!!
thank a lot
Alb320

[markopo]

Hi Alb.
I'm very interested what are You doing ? What kind of application do You want to do. Robot+what?.
Some transportation cell or welding cell
Best greets from Poland.
To control robot via plc there are  many things to programm or to set-up.
If You want I can shortly write down (plc blocks in lad to control robot, choosing folge number , checking robot states etc.). What kind of comunication You use profibus, devnet, interbus ??

[alb320]

Hi Marek...
 I have to program it for trasport a full crucible of precious metal melted and overthrow it in ingot container.
For this application I have to carefully setup accellerations... I'm thinking what kind of program is better for me, now.
And... I'm studing the gripper for pickup crocible.
My idea is then control gripper by an electro-pneumatic system by plc, and program robot by in PTP mode, by this way I think I have the better solution.
Do you have some advice for me?

[alb320]

sorry my bad english...
Have you some advice for me?

Best regards from Italy

[markopo]

Hi Alb320.
In a free time I try to think about solution for You.
Best regards
Marek

[markopo]

Hi again.
For the first but I suppose that is most controlled motion is to divide path on a pieces, many pieces. Every piece I (if i have not much time to do it) is to create trajectory with controlled acceleration.
$ACC_AXIS[axis number]: to program maximum axis--specific acceleration rates.
Step by step increase acceleration.
Marek

[Andicot]

E' possibile selezionare il programma tramite plc configurando la modalità automatico esterno.
Non ho capito bene cosa devi fare ma ti conviene utilizzare movimenti lin e settare l'accellerazione e velocità correttamente

Andrea

[markopo]

Andicot Andrea. Hi.
I agree with You, but it's better to divide move and increase speed, without changing velocity. If You have full cup melted metal it's very fragile move needed to start-up ramp then move with approx same speed and stop ramp. I would like to do it by change proximity (100%) like a move-through with maximum proximity. This move will be very smooth without any incorrect speed-ups and brakes. The main condiotion will be ability to set up this kind of move ( free place to move with maximum proximity of encoders values, maybe time of cycle).
Marek form totally hot Poland.