May 25, 2019, 01:20:52 AM
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 Automatic external

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November 08, 2018, 10:18:36 AM
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apakrat13


Hi all, I'm have a KRC4 with KSS V8.3, recently i'm trying to use PLC siemens for EXT AUT KUKA. Thanks for a lot helpful topics in this board before, everything work fine. But how i can control Robot by Siemens without open cell pro, turn the mode to T1 then run until BCO? I mean I just need to power up the KRC4 and everything else depend on PLC. Everything will be appreciated. Thanks.

Today at 01:20:52 AM
Reply #1

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November 08, 2018, 11:17:51 AM
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davidina


Assuming the program you want to call at startup is program(), in your SPS.SUB you may do the following:
Code: [Select]
   
IF $MODE_OP==#EX THEN
   CWRITE($CMD,STAT,MODE,"RUN /R1/program()")
ENDIF

You need to have left the mode in EXT AUT  when you switched off the controller. By powering up it will call the program() directly

November 08, 2018, 11:58:07 AM
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panic mode

Global Moderator
Before you automate startup and skip BCO, you need to develop homing/recovery procedure
1) http://www.robot-forum.com/robotforum/kuka-robot-forum/read-first/
2) if you want reply about robot, post it in forum
3) read 1 and 2

November 08, 2018, 02:49:51 PM
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dj_adamix


You might also want to stop and reset the program every time you stop the robot with the plc. That way you can restart the program and execute homing sequence every time robot stops via plc. i do thi in my sps.sub

IF $IN[250]==TRUE THEN
 CWRITE($CMD,STAT,MODE,"STOP 1")
  CWRITE($CMD,STAT,MODE,"CANCEL 1")
  $out[170] = false
    ENDIF
IF $IN[251]==TRUE THEN
CWRITE($CMD,STAT,MODE,"RUN/R1/cell()")
$out[170] = false
 ENDIF

where in 250 is a signal from my plc to cancel program and 251 is to select cell program when system is restarted, then i select appropiate program by using cell structure. you can change cell to your main program name directly here.

November 09, 2018, 01:48:19 AM
Reply #4
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apakrat13


It seem like SPS.SUB is a strong tool, i thought i skipped this part when i read manuals. Thanks you all, guys. It's realy helpful.


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