Automatic External Connection

http://www.robot-forum.com/rob…shematics-of-x11-and-x12/

http://www.robot-forum.com/rob…kuka-robots/krc1-manuals/

Here you can find a detailed description of how to make automatic external mode work:

http://www.loullingen.lu/projekte/kuka/index.php?language=EN

I do not take over any warranty or responsability for any damage that might occur when following my instructions. You do this at your own risk.

Loulli The waits you have inside the SPS is a very bad idea and not the correct way to do that IMHO

Something like this would be better

Edge= ($date.sec-($date.sec/2)*2==0)

IF AUTO_START_PRESSED AND $EXT AND $ALARM_STOP AND EDGE AND NOT $PRO_ACT THEN

PULSE(DRIVES_ON,NOT $PERI_RDY,0.2)

PULSE(CONF_MESS,$STOPMESS AND $PERI_RDY,0.2)

PULSE(EXT_START,$ON_PATH AND NOT $PRO_ACT AND $STOPMESS,0.2)

ELSE

DRIVES_ON=FALSE

CONF_MESS=FALSE

EXT_START=FALSE

ENDIF

meh... those wait are not blocking so SPS will still run. more over they are not processed continuously, only processed when start button is pressed.

i would not worry about it

I still would have any waits inside the SPS IMHO Also depends if he has anything in sps

Here you have a PCB for the automatic external Start , without devicenet needed