Hello!
I'm new to programming of KUKA robots. Please help to understand where to prescribe command for the inputs and outputs? Let's say there is a button "turning the engine" the connected to the input number 1. Where to register a command that when you turn on engines?
Sorry for my English is very bad to say it
KRC4 - 8.2.20
KRC4 8.2.20 Please help me with programming IO
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May 16, 2013 at 10:04 AM -
Thread is marked as Resolved.
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If you're doing it from the teach pendant (SmartPad) using menus and inline forms:
1. Select program
2. Put cursor on correct line
3. Menu buttons: COMMANDS>LOGIC>OUT> (choose correct output type here)
4. Menu buttons: COMMANDS>LOGIC>WAIT FOROnce the inline form is up on the screen, you need to fill in the blanks with the Input or Output number, and any Boolean logic.
If you are typing in "raw" KRL commands, $INs and $OUTs are treated as simple Boolean variables. So:
CodePTP P1 ; move to P1 WAIT FOR $IN[1] ; wait for input 1 to be true $OUT[1] = TRUE ; set output 1 PTP P2 ; move to P2 $OUT[2] = TRUE ; set output 2 WAIT FOR NOT $IN[1] ; wait for input 1 to become false $OUT[1]=FALSE ; reset output 1 PTP P3 WAIT FOR (($IN[3] AND NOT $IN[4]) OR $IN[5]) ; wait for input 5, or for input 3 to be True AND input 4 to be false at the same time
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Not quite sure about KRL. Command is written to the console? I'm just wondering what can be done through VorkVisual. That is to say which make or security system. What do I need? Previously engaged robots OTC and there is logic prescribed in PLC. And how it makes no in robots KUKA?
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...what?
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Let's have our own security system. It is connected to the inputs and outputs. How to make kuka robots to input and output continuously processed? without the participation of the program operator.
I hope it will be more clear -
Security system?
Let me see if I understand this correctly: You want to put the robot into a loop where:
1. Loop never ends
2. Robot remains at Home position, running the loop until an input is received
3. Robot runs different processes depending upon which inputs were received
4. Robot returns to Home position and waits for next inputIs that correct? Do you want to do this in AUT or EXT modes?
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Hello... If I undersand, you need to write some program in the SPS rutine.
The SPS is a cyclic program in the KUKA Robots. Normally the cicle time is 24msIn the old KRC2 controller this file is in the path: ..KRC\R1\System\sps.sub
Try to write this code in the main loop of the sps.sub:You know how to map the I/O?
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I must raise on objection: putting WAIT commands, even very brief ones, into the SPS is never wise. And a 2sec WAIT could be disastrous. Far better to use $TIMER values, or PULSE functions.
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SkyFire: I totally agree, SPS need to be cyclic routine!
But is a very easy way to understand the SPS funcionality & check the I/O correct mapping
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I'll try to explain again Let.
Safety light curtains are connected to the inputs. A regular survey of their condition. -
Ah. Okay, safety inputs are a completely separate topic from normal I/O.
Depending on the model and configuration of KRC you have, you probably need to connect the safety light curtains to the Operator Safety inputs on the X11 socket. Connecting the safety light curtains to normal I/O signals is not safe.
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It is clear that it is not safe I said about light curtains for example. Can you tell me how to do all this?
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Do what? I still have no idea what, exactly, you are trying to accomplish.
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Here lucasprieto said is correct about the file in KRC2 is such a KRC4?
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An equivalent set of files exists in KRC4, but with KRC4 (KSS 8.x), rather than edit the files directly, the correct course of action is to edit the I/O configuration using WorkVisual.
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Thank you very much.