Hello fellow robot people!
I have heard about the new MultiSubmit feature, which allows to have up to 8 SPS processes running simultaneously.
Has anyone had the possibility to try it?
diglo
Hello fellow robot people!
I have heard about the new MultiSubmit feature, which allows to have up to 8 SPS processes running simultaneously.
Has anyone had the possibility to try it?
diglo
yes...
not much to it... install it and it works.
you get eight SPS tasks, and since they are separate tasks they don't hold each other, it is fine to use WAIT commands if you are really inclined to do so - you can always have one task that runs fast...
I have not tested it yet but it should be possible to have completely independent asynchronous external axes.
yes...not much to it... install it and it works.
you get eight SPS tasks, and since they are separate tasks they don't hold each other, it is fine to use WAIT commands if you are really inclined to do so - you can always have one task that runs fast...
I have not tested it yet but it should be possible to have completely independent asynchronous external axes.
So i assume it is something we have to buy from Kuka.
It better be cheap then else i would rather have a real PLC
I never had problem doing everything in single SPS task, specially since one can always use subroutines and timers instead of WAIT command.
having multiple tasks really should open up possibilities when it comes to async axis motion (which is what I wanted to play with but never get time).
btw. KRC4 supports 64 timers though list under Display>Variables>Timers appears shorter.
to uncover them all, one just need to change upperbound value from 20 to 64 in
C:\krc\smartHMI\config\timer.xml
example
https://www.robot-forum.com/robotforum/kuk…67861/#msg67861
I've done quite a number of strange things in the SPS over the years (it's how I ended up developing my personal state machine architecture), but having separate parallel SPS processes would certainly be more convenient.
From what the manual says, Multi-Submit will only support ASYNC motion commands in one SPS. It looks like the "classic" SPS will still be present, as the "primary," and 7 additional "secondary" SPSs will be made available. But the secondary SPSs will not be able to execute ASYPTP or any related commands.
Possibly this is necessary to maintain backwards compatibility with the older software base, but I'm still a bit disappointed -- ABB's IRC5 can support multiple parallel modules of both "motion" and "background" types, and I was really looking forward to getting a match for that on KRCs.
From what the manual says, Multi-Submit will only support ASYNC motion commands in one SPS.
crud.... so much for high hopes...
Talked to my sales rep and he says it is free but he does not know how to order it, he is looking in to that at the moment.
I take no responsibility for the information above
crud.... so much for high hopes...
I double-checked the manual. SPS.SUB is retained as the "System Submit," and the only Submit where ASYPTP, VectorMove, and Torque-Limit commands are allowed. The seven "extended Submits" are added alongside, and, aside from those prohibited commands, can do everything the System Submit can do.
So, it looks like Augsburg came up with a way to add additional Submits alongside the classic Submit, but granting "joint custody" of the motion planner to multiple Subs became too complicated or costly. ABB manages it by requiring different "motion groups" to be assigned permanently to particular "motion processes," but KSS never divided up the motion planner that way. Making that change would probably involve some pretty major deep-core alterations to KSS.
Just got the documentation along with US sales engineering's take on it. They say that in 8.3.X it doesn't play well with any other tech packages. For me that's a problem because we use a lot of SafeOp. They said it should be less of an issue in 8.4.X
So I'm going to sit out for a bit and stick with my state machines in the vanilla submit.
Just got the documentation along with US sales engineering's take on it. They say that in 8.3.X it doesn't play well with any other tech packages. For me that's a problem because we use a lot of SafeOp. They said it should be less of an issue in 8.4.XSo I'm going to sit out for a bit and stick with my state machines in the vanilla submit.
It should work with SafeOp
Release notes:
QuoteDisplay More
===========================
R E L E A S E N O T E S
===========================MultiSubmitInterpreter 1.0 for KSS 8.3
Copyright (c) 2012 - 2014 KUKA Roboter GmbH
All rights reserved.
November 2014
MultiSubmitInterpreter 1.0 (18.11.2014)
----------------------------------------
New Functionality:
=================
1. Enables or disables MultiSubmitInterpreter functionality
Software description:
====================
1. KUKA.Multisubmit activates the MultiSubmit functionality in the KSS,
whereby - in addition to the known system submit interpreter - up
to 7 additional submit interpreters can be used (extended submits).
2. Please note: For some system variables have been changed, please
see documentation before use of MultiSubmit functionality.
System Requirements:
===================
1. KRC4 (all types)
2. KSS V8.3.12 and higher versions of KSS 8.3
3. Note: Not compatible with other versions of KSS 8.x or VSS 8.x
Compatible options:
==================
1. KUKA.KRmsgNET
2. KUKA.Gripper&SpotTech
3. KUKA.UserTech
4. KUKA.ExpertTech
5. KUKA.smartPADRotation
6. KUKA.ConveyorTech
7. KUKA.VisionTech
8. KUKA.EthernetKRL
9. KUKA.PLC ProConOS
10. KUKA.PLC Multiprog MCFB
11. KUKA.LoadDataDetermination
12. KUKA.CNC
13. KUKA.ArchTech Basis
14. KUKA.CPC
15. KUKA.Ikarus T3
16. KUKA.RemoteService
17. KUKA.SafeOperation
18. KUKA.SafeRangeMonitoring
19. KUKA.SafeSingleBrake
20. KUKA.DiagnoseSafety
21. KR C4 PROFIBUS
22. KUKA.ProfiNet
23. KR C4 EtherNet/IP
24. KUKA.NonAdmin
Miscellaneous:
===========
1. No support for KSS 8.3 with version below 8.3.12.
2. No support for VSS 8.3
I am still waiting for the software and i am hoping it works with OPC but it is not mentioned in the lists.
Talked to my sales rep and he says it is free but he does not know how to order it, he is looking in to that at the moment.I take no responsibility for the information above
ok, so some things in life are free, such as MultiSubmit and if I recall - Diagnose Safety 2.0 (for those running SafeOp on KRC4)