Is there a way to change the rapid measurement input from NPN to PNP? or vise versa
KRC4 rapid measurement input
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TickTack -
December 10, 2015 at 4:58 PM -
Thread is marked as Resolved.
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they are always PNP. you can invert them with a bit of electronic. usually in form of a terminal block:
https://stevenengineering.com/pdf/67RELAY_DEK-INVERTER.PDF -
The fast-measure inputs aren't really PNP or NPN -- they're essentially intended to be wired to a "dry contact". The fast-measurement contacts consist of a "reference" line, and several "input" lines. If you close the circuit between the reference line and any one of the input lines, the robot detects that as an input. Trying to connect the inputs to some other voltage source probably won't work, and could fry your RDC board.
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just a small question but arent the KRC4 Fast Measurment inputs on the CCU?
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So I'm able to take power from X33 and supply an external unit that will send me back 24v as an input?
Also unsure about this:
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Fast measurement is activated with $MEAS_PULSE by means of an interrupt.
When the interrupt is activated, $MEAS_PULSE must have the value “false”,
otherwise an acknowledgement message is generated and the program is
stopped.
---------------------------------Is it interrupt activated as in stops program?
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on KRC2 fast measurement inputs are on RDC.
With KRC4 they are on CCU so X33 is on the cabinet.
Voltage in controller is 27.1V and not the usual 24V (even if "24V" may be mentioned in some documentation). Most sensors will have no problem with this.
Inputs are compatible with dry contacts and devices that have PNP output.On KRC4 X33 connector, pins are:
1 - Fast input 1
2 - Fast input 2
3 - Fast input 3
4 - Fast input 4
5 - not connected
6 - Internal power (+27VDC)
7 - GND_Input
8 - Internal Power (0VDC)
9 - not connectedTo wire dry contact device:
1 - to device (- if polarized)
6 - to device (+ if polarized)
7-8 shorted (GND input connected to supply 0VDC)To wire PNP sensor:
1 - Sensor Output (black wire)
6 - Sensor Power (brown wire)
7-8 shorted - Sensor power (blue wire)Read Kuka documentation on interrupts. They are edge triggered (not level triggered). This means that if input was high before interrupt is activated, it will not be triggered. To trigger an interrupt, there must be event transition from FALSE to TRUE.
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RDC/CCU: That's what I get for not reading the subject line carefully.
$MEAS_PULSE[1] through [4] are the system variables that reflect the state of the 4 FM inputs. If the circuit is open, the variable is False. It becomes true when the circuit is closed. If you want to capture these inputs at high speed, you need to set up Interrupts that trigger on the transition of the appropriate MEAS_PULSE variable. $MEAS_PULSE work just like any other $IN, except much faster.
One caveat: the MEAS_PULSE inputs only seem to work at high speed on low-to-high transitions. I once had to try using an Interrupt on the high-to-low transition of a $MEAS_PULSE input, and what I saw lead me to believe that that transition only worked at the usual 12ms scan rate. However, I was badly rushed for time and never had the chance to really test it throughly (fortunately, that application didn't really need the best speed of the Fast inputs).