need help with KRC2 !!

Hello. Search for the $config.dat in the R1/SYSTEM, open the USER GLOBALS fold and write your signal: SIGNAL MY_INPUT $IN[1], or if you have BYTE variable: SIGNAL MY_INPUT_BYTE $IN[9] TO $IN[16], same goes for the outputs.

I'm assuming that you already have the connection to the PLC configured in iosys.ini.

Declared signal in $config.dat you can use in robot program "my_program.src":

for example:

WAIT FOR MY_INPUT


IF NOT MY_INPUT THEN
...
ELSE
...
ENDIF


; for byte variable
IF (MY_INPUT_BYTE==100) THEN
...
ELSE
...
ENDIF

what do you mean by "read it"?

you can display variable (Display>Monitor>Variable>Single...)
what kind of variable? what KSS?

only a month..? I am not surprised, its all clear as mud... we don't know what you have there, if you need help, you need to be much more specific.

what do you mean operator is entering variable, using plc etc? that is something PLC programmer would do, not operator.

do you mean that operator is entering value using HMI connected to PLC, and PLC then sends this value to robot?
or do you mean that value somehow computed by PLC and presented on HMI is something that operator needs to punch in on robot teach pendant?

if the data is sent by PLC to robot, how are the two connected (what type of interface or fieldbus)? is I/O mapping carried out? can you see bits change value on one end (such as robot) when you toggle bits on the other side (PLC)? how about the other way?

once you are able to send bits back and forth, you may combine them into integer which can be scaled/converted to real, which can be used to produce offset.

if you have:
a) profibus working correctly and
b) I/O are mapped correctly

then you have working connection. In other words toggling bit on one node shows up on the other.

In that case you need to pass that value to a variable. common way is to use SIGNAL.
you can declare it in the $CONFIG.DAT, for example

Signal myOffset $IN[101] to $IN[132] ; assuming it is a 32-bit value

Then in your code you use it any way you like, for example

DEF Main()
DECL POS myPos


INI


PTP HOME Vel = 100% Default


PTP P1 Vel = 0.5 m/s PDAT1 Tool[1]:1 Base[3]:3


myPos = xP1 
myPos.z = myPos.z + myOffset/1000.0
LIN myPos ; btw. this is not an inline form


PTP HOME Vel = 100 % Default


END

if robot is configured as profibus slave, everything is done in PFMBS.INI file, and IOSYS.INI.

i/o mapping is done in IOSYS.INI. this was discussed many times.