Hi. We have robot with Touch sensor but from beginning didn’t working. Now I decided to resolve my problem, but I stuck. KRC2 with Fronius TPS 5000 and touch sensing relay from ISM IGM in PLC. As I see, such way can working, when I turned up touch sensing KRC make Output[195] to relay to charging up.
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INT TS_Int1=15
INT TS_Int2=16
INT TS_Int3=17
INT FG_TOUCH=6
INT TOUCH_OUT=195
INT DOUBLE_TOUCH=0
INT TOUCH_ACTIVE=1 ; configuration
INT TOUCH_TIMER=9
INT TOUCH_RED=100
INT OV_PRO_OLD=10
INT ADV_OLD=3BOOL H70_OPTION=TRUE
BOOL ERROR_TOL=FALSE
BOOL TOUCH=FALSE
BOOL NOTAUS_TOUCH=TRUE
BOOL FG_ON_WORK=TRUE
BOOL SUCHWEG_ENDE=FALSE
BOOL NEW_REF=FALSE
BOOL TOUCH_ON=TRUE
BOOL HIT_TARGET=TRUE ; Decision flag
BOOL DECIDE_MODE=FALSE ; Decision on demand
POS DISTC_EXACT={X -0.300000012}
DECL CTRL_TOUCH_O TOUCH_O[4]
TOUCH_O[1]={OUT_NR 195,INI FALSE,NAME_NAT[] "1. TOUCH-SPANNUNG"}
TOUCH_O[2]={OUT_NR 0,INI FALSE,NAME_NAT[] "2. TOUCH-SPANNUNG"}
TOUCH_O[3]={OUT_NR 0,INI FALSE,NAME_NAT[] "3. TOUCH-SPANNUNG"}
TOUCH_O[4]={OUT_NR 0,INI FALSE,NAME_NAT[] "4. TOUCH-SPANNUNG"}DECL CTRL_TOUCH_I TOUCH_I[4]
TOUCH_I[1]={IN_NR 1,NAME_NAT[] "1. TOUCH-EINGANG"}
TOUCH_I[2]={IN_NR 0,NAME_NAT[] "2. TOUCH-EINGANG"}
TOUCH_I[3]={IN_NR 0,NAME_NAT[] "3. TOUCH-EINGANG"}
TOUCH_I[4]={IN_NR 0,NAME_NAT[] "4. TOUCH-EINGANG"}
When gas nozzle hit the part (target) the relay pickup and provides an electrical input for Fast Measurement input [1]. Robot realize and everybody is happy.
So, I have few problem with this. The main question is.
How I can testing Fast Measurement Inputs. I made this: Monitor/Variable/single/$meas_PULSE[1]
I hold one nice wire and I connected 2-3 pin no. in Fast Measurement connector X33.
I hit the enter but nothing happening. Is still FALSE. Here what is problem? I need to replace RDC card for new one? Connector has 24 v 1-2 pin no. measured. I tried from outside 24V nothing. Or I have some software problems? Why kuka not realizing fast inputs?
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Versions:
[Archive]
Name=u:\archive.zip\
Config=All
DiskNo=0
LastDisk=1
ID=0ceb20ce-8bbb-4b33-8f1c-6351cabe0687
Date=2014-12-15_10-38-54
[Roboter]
RobName=RName
IRSerialNr=731927
[Version]
Version=V5.6.11
[TechPacks]
TechPacks=ArcTechDigital|TechConfigPlugIn|TouchSense|
ArcTechDigital=V2.3.0
TechConfigPlugIn=V1.0.2
TouchSense=V1.3.3
But in separated files have this.
QuoteDisplay MoreA20.SRC
&ACCESS R13
&REL 4
&COMMENT ArcTech digital
&PARAM KUKAARCTECHDIGITAL_VERSION = 1.0.0
DEF A20 (INSTR :IN,A :IN,M :IN,PRNO :IN )
;=========================================
; FUNCTION : standard routines
; Package: A20 V5.x
; Date: 10.04.07
;=========================================H70.SRC
&ACCESS R
&COMMENT TOUCH SENSING package
&PARAM KUKATPTouchSense_VERSION = 1.2.0
DEF H70 (KENNUNG :IN,CD1 :OUT,S_POS :IN,PA :IN,CD2 :IN,CD3 :IN,CD4 :IN,CD5 :IN,CD6 :IN,ADV :IN )
;************************************************************
;Package: KUKATPTouchSense
;Release V2.0.0
;Date: 24.01.2008
;************************************************************
Please can somebody give me some tips?
The other things what I realized. The input wire from PLC to Fast input 1 has always 24 V. . Kuka turning off and on the touch sensor by false and true, but this relay have one input for on and one input for off maybe in PLC has some on off code. And last one. Output signal from relay going to PLC according to drawing and not direct to Fast Measurement.