check it out, it is just a file with SUB extension rather than SRC:
KRC:\KRC\R1\SYSTEM\SPS.SUB
no such files, only:
KUKA_DISK:\KRC\ROBOTER\KRC\R1\BMW_STD\sps_appl.sub (and "Sps_runup.sub" and "Sps_standard_ini.sub"), no "SPS.SUB" file on the disk.
check it out, it is just a file with SUB extension rather than SRC:
KRC:\KRC\R1\SYSTEM\SPS.SUB
no such files, only:
KUKA_DISK:\KRC\ROBOTER\KRC\R1\BMW_STD\sps_appl.sub (and "Sps_runup.sub" and "Sps_standard_ini.sub"), no "SPS.SUB" file on the disk.
What is the value of $PRO_I_O[]? This tells the controller which file to run as the Submit Interpreter.
in "custom.upg" $PRO_I_O[]= value is empty
....odd. When you cold boot the robot, does the icon show the SPS running?
Last time I had to force (next) cold start to take out HD to make backup image. SPS is not running after boot up. ("S" is greyed out).
Hello.
For making proper interface robot to plc You need to configure signals as drives on and else, configure external control. From electrical side You have to prepare safety circuit. Better You can hire someone who make it for You if You are not familiar with robots and with plcs.
Marek
Can you, guys, please tell me: if I can move my robot in T1, for what I would need to have SPS other than code sending me its position via serial interface? I can have as many E-Stops as possible simply connecting them to X11 - if you ask me about safety.
The robot is going to be Camera Motion Control for films, not industry.
The SPS has nothing to do with safety -- it is not a safety-qualified system. On your robot, probably only the X11 signals are safety-qualified.
If you never operate the robot out of T1, then safety is essentially in the hands of the person holding the teach pendant.
Looking at your SPS files, it looks like this was formerly a BMW robot. I don't have much experience with their specific architecture, but it looks like there's no default SPS established.
You should be able to create a new SPS of your own by logging in as Expert or higher, then creating a new module and selecting "Submit" from the list of templates. You will probably also need to change $PRO_I_O[] to contain the path/name of your SPS, like so: $PRO_I_O[]="/R1/SPS()". The .sub extension need not be added here.
Thanks.
Does it mean that SPS running is essential for normal robot work? I mean it cannot run without it?
yes, you must have submit running to do anything with robot
The robot can run and operate without the SPS. However, some standard program templates may perform checks to see if the SPS is running, and could generate an application-level fault if it is not. You might need to remove those checks. But there is no system-level issue with operating the robot without the SPS running, that I'm aware of. I've done it in the past, though not much.
Thank you all.
I'll check the templates, if there are any on the disk.
Are the any contraindications to put in the SPS.SUB code taken from CREAD/CWRITE example of sending position via serial?
It should be possible, but you'll have to manage your timing and handshakes carefully. The SPS can cycle many times in the time it takes a single RS232 data transfer to take place.
Ok, I'm going to try this.
The example form CWRITE/CREAD manual is to be put into ASCII "text" file with .SRC extension?
Or if I would try to include it in SPS.SUB it should be placed between "LOOP" and "ENDLOOP", right? What should I put in INIT section?
Thanks in advance
Cez
I don't get it. The file extension is not enough? Why KSS does not see simple text file with extension .SRC? Does it have something like resource fork in old mac system?
Does it mean I cannot write program on anything else than KCP?
No resource forks, but there are certain formatting codes at the top of any .SRC, .DAT, or .SUB file that can be tricky to make correctly by hand. The simplest approach is to create a new .SUB file on the pendant, using the "New Submit" template. This will create a .SPS file that already has the header and footer defined for you. Then copy that file to an external PC and make your edits there, leaving the header and footer untouched -- just make your modifications in between. Then copy the new version of the file back into the robot.