Hello;
I have a Kuka Krc1 200/2.I have started to work with these robot recently.I want to learn sometingh,is it possible to assign a system variable to a real output? If it is possible,i want to do this;when i press to deadman button and the robot ready to move,an output turn on
Thanks
Krc1 System Variable Assingment
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kupecik -
December 9, 2015 at 2:29 PM -
Thread is marked as Resolved.
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$PERI_RDY will do this -- it tracks the on/off status of the motors. In T1/T2, it will reflect that the deadman has been closed and the motors have come on. In AUT/EXT, it indicates that the motors are enabled, but does not reflect events such as the motors going into power-saving mode.
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I guess add these system variable ($PERI_RDY) to somewhere.Am i wrong? But i do not know how an i do that
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option one is to go to autoexternal configuration and map $PERI_RDY to output of your choice
option two is to add line of code in SPS.SUB inside main loop:$OUT[99]=$PERI_RDY
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thank you so much.i did it.