Hi All,
My Controller Details: KRC4
Firmware Version: KS 8.3.13
Problem: 1) The robot does not select the program no in the CELL.SCR when in Automatic mode.
I have gone through this forum and found https://www.robot-forum.com/robotforum/kuk…-without-a-plc/ this post help helpful, but I am unable to get it running.
I have seen the timing diagram in the SI integrator manual and do exactly the same.
Steps that I follow:
1) Select the program CELL.SCR, when IN T1 mode.
2) Run it till it reaches home position, when IN T1 mode.
3) Select the EXT mode on the teach pendent.
4) Set $DRIVES_ON to TRUE and WAIT for $PERI_RDY to TRUE & then set $DRIVES_ON to FALSE. This is what I understood from the timing diag.(Some post suggest to set $DRIVES_ON as pulse,but at what
5) Set $CONF_MESS to TRUE, WAIT for $STOPMESS FALSE, set $CONF_MESS to FALSE
6) Set $EXT_START to TRUE, (According to the manual I need to reset $EXT_START after $PRO_ACT, but this never turns on and strangely $PGNO_REQ is always on)
7) Set $EXT_START to FALSE when $PGNO_REG is TRUE
I send PGNO as "1" and PGNO_PARITY as "1"(The PGNO_PARITY is confusing for me as what to set)
9) Wait for 100ms send PGNO_VALID = TRUE
10) I get a message to reset PGNO_VALID, i do it then I get message to turn on PGNO_VALID this runs in loop.(The current pointer in CELL.SCR is at P00 before the switch statement)
What am I doing wrong? Please help me in this regards.