It's impossible to answer this without more information. Controller? KSS Version? What kind of I/O card is it?
The short, uninformed answer is that the robot needs to be configured to talk to your I/O card via Work Visual. Once that configuration is complete and operable, you should be able to see your output over your network. And no, you don't need any option package for this, generally speaking.
It's impossible to answer this without more information. Controller? KSS Version? What kind of I/O card is it?The short, uninformed answer is that the robot needs to be configured to talk to your I/O card via Work Visual. Once that configuration is complete and operable, you should be able to see your output over your network. And no, you don't need any option package for this, generally speaking.
kr16_2 c4 6 axis, ks v8.3.137 ..
it's a TURCK_TBEN-S1-4DIP-4DOP , if u google u can access the datasheet
Data sheet says it works as Profinet or EIP. Do you have either of those option packages installed on your KRC4?
Not familiar with that Turck device, but you might need a normal PLC to configure which bus system it uses before you can connect it to the KRC. And you'll need to get the appropriate device file from Turck's download site and import it into WorkVisual.
Data sheet says it works as Profinet or EIP. Do you have either of those option packages installed on your KRC4?Not familiar with that Turck device, but you might need a normal PLC to configure which bus system it uses before you can connect it to the KRC. And you'll need to get the appropriate device file from Turck's download site and import it into WorkVisual.
Yes i mainly work with it via ethernetIP and modbus.
I've searched all the menus and i couldn't figure out where to search the installed packages ( i guess i only have the basic robot package...)
____EDIT____
is there no option to send a analog signal? my card converts analog in digital as well..
On the SmartPad, use menu HELP>INFO>OPTIONS. This will list all option software packages installed on the robot.
On the SmartPad, use menu HELP>INFO>OPTIONS. This will list all option software packages installed on the robot.
That's what i thought.. i have BoardPackage and RemoteService ..
Gonna dig this again.
Is there a way to read the variables values in config.dat ? only read, don't need to write. 
You can create a program in KRL that will read a variable and convert it into a value on a range of outputs.
You can create a program in KRL that will read a variable and convert it into a value on a range of outputs.
Looks interesting.. But i don't get how can i read that values . sorry
you can read and write outputs individually or as signals - regardless if they are mapped to some IO hardware. of course to use output outside robot programs, it need to be mapped to a physical IO point. depending on type of used network, you may need to get appropriate tech package such as EthernetIP or ProfiNet.
you can also read WoV manual and Programming manual for System Integrators for details (or take training).
you can read and write outputs individually or as signals - regardless if they are mapped to some IO hardware. of course to use output outside robot programs, it need to be mapped to a physical IO point. depending on type of used network, you may need to get appropriate tech package such as EthernetIP or ProfiNet.you can also read WoV manual and Programming manual for System Integrators for details (or take training).
I just talked to a Kuka iberia technician and he told me that i can do it without any extra-tech . That i just had to map that output to the variable i want..
He was in a maintenance so he couldn't tell me much, but i find it kinda weird..
i just re-read your original post.... if i understand correctly, you don't need help with mapping I/O or setting up some fieldbus, you just want to turn on an output when robot reaches certain position. this is already done for home position. there are five more home positions and i would expect that they all do the same thing (never tried). there are also workspaces (axis specific, cartesian and cylindrical) which can tell you if robot is in certain place. finally you can make your own routine to check this... here is one such function and example program
i just re-read your original post.... if i understand correctly, you don't need help with mapping I/O or setting up some fieldbus, you just want to turn on an output when robot reaches certain position. this is already done for home position. there are five more home positions and i would expect that they all do the same thing (never tried). there are also workspaces (axis specific, cartesian and cylindrical) which can tell you if robot is in certain place. finally you can make your own routine to check this... here is one such function and example program
Not exactly that, but it helps as well !
I've declared a variable in config.dat
DECL REAL POSITION ;from 1 to 10, cause it only has 10 intermediate positions
and in my program
PTP A
POSITION=1
PTP B
POSITION=2
PTP C
POSITION=3
(...)
The point is to have some kinda feedback when it reaches some position. But the way i'm doing it (position=1 p.ex) it doesn't change the value in the config.dat, and it is the only place that i'm available to read that value from ( with my resources).
don't use REAL for counting, that is job for integer. and since you want this to be an output anyway, use SIGNAL
for 0-10 range it is enough to use 4 bits, for example add in $config.dat
SIGNAL POSITION $OUT[1] to $OUT[4]and use it in your program as you intended.
There's no way to read that values from my application..
I've tried another thing, but what's happening is somehow unexpected: the VARACTUALPOSITION assumes the value 2 before the robot reach P1 .. 
SWITCH VARPOSITION
CASE 1
PTP P1
VARACTUALPOSITION=2
unexpected: the VARACTUALPOSITION assumes the value 2 before the robot reach P1 ..
there is a lot of unexpected things but this is not one of them.
it is expected that those programming robots take time to get acquainted with the robots through proper training or reading manuals or ... if that is too much, at least to read short replies. you would be surprised how many don't bother to read pinned topic "read first". in real world things often don't go the way one wants... its just fact of life. 
program behavior you observed is a documented feature (hint: advance run pointer). system integrator manual and kuka training (basic programming or now programming1) cover this in detail. also if you did SIGNAL declaration as i suggested, you would not see this problem...
I just used the example
"You could set a global boolean to true before the "wait sec 0", and set it to false after "wait sec 0". You can then put your "loop" in the SPS, and only execute it when the boolean is equal to true.
/RoboticsMan "
And i still have the same result..
