Hello,
We have Kuka KR30-3 KRC4 V8.3.14.
And im looking to create some of the controls to run the robot in auto mode not auto ext we dont have plc built.
Ive been looking thru many pages but have not found an clear answer.
So we want to have 4-5 controls on outside the cell which im thinking will be ext E-Stop, then reset/aknowladge, then start program and last one will be stop program.
So far i know where and how to get two of those e-stop and reset. I need help step by step how to set up the rest. Ive been reading allot but its not clear to me. Please if someone can help me ill appreciate.
Auto mode start/stop program
- Robotony
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You need minimum 2 input signals (Program Start, Program Stop) which will be your push buttons (to be honest you can probably get away with one PB)
This is to get program running (not safety interface)
Since KRC4 expects input signals in AUT mode you wire robot outputs to robot inputs.
You need to take a look at EXT interface (AUT mode is the same) and what signals are expected in what order.
Upon pressing Program Start you trigger basic logic of robot sending outputs that triggers its inputs (like real PLC)
To make that happen you need some logic written in submit program.The other option (no wiring INs to OUTs and no logic in submit) is to wire minimum 3 signals to robot Inputs and jut send them in correct order.
Again EXT interface is what you need to start with. It explains what is needed and expected (Ackn. Message, Drives On, Program Start)
As for the robot status you can watch teach pendant or install some LEDs (to monitor robot output responses) -
If you're running in AUT mode, as opposed to EXT, you can only control motor power and Start/Stop from the buttons on the SmartPad. The safety interface through X11 will still need to be configured, and you'll need to do things like set $MOVE_ENABLE and $DRIVES_OFF to $IN[1025].
OTOH, if you have any FieldBus I/O, you can start/stop the robot with push buttons by connecting the Auto-External I/O to those slave inputs -- a PLC is superior, but not required.
If you really want to control the robot remotely in AUT mode, you'll have to engage motors and start the program from the SmartPad, then use inputs from your I/O along with WAITs and IF/THENs in your program.
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Hello,
Thanks guys for your reply.
Do i need to use a cell program in my case ?
Then do i need to mapp $[1025]/$[1026] to actual beckhoff inputs? -
$IN[1025] and $IN[1026] and virtual inputs that you can assign to your signals.
One is always TRUE the other one is always FALSE.
You do not assign those to any actual inputs. -
How do i use them then? In cell program?
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That depends almost entirely on what you want to accomplish. CELL is created to use a complex set of I/O from an external PLC, and is probably not really what you want unless you need to dynamically manage multiple programs from an external point of control. If all you need is to run one program, then have someone hand-select a different program and start it afterwards, then simply doing these functions manually from the SmartPad will probably suffice. OTOH, if you need the capability CELL offers, you'll need to provided the requisite signals from a manual control station -- the details are in the Auto-External Configuration section of the manuals.
If you need the robot to switch programs automatically, then CELL is not what you want, but rather a top-level program customized to take sensor inputs and dynamically switch to the program that it needs.
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Lets say we have a production line that we run parts. Each part takes 7 min so im thinking of just selecting and run to BCO the program in T1 then operator takes over and using only external buttons i dont want operator to use smartpad.
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How many different programs do you need to run?
BCO can only be achieved by the operator using the SmartPad, so at least on the first startup you'll still have to do that. However, once it's been done, as long as no one manually jogs the robot, or reboots it, BCO will be retained. So if you only had one program to run, you could simply place it in an infinite loop, and have a WAIT FOR $IN statement at the top waiting for an operator button.
If you have more than one program, and want the operator to select them, then you need something like CELL. You'll either need a separate button for each program, or, if you have many different programs to select, you'll need a way for the operator to enter a numeric code to select the correct program. Which creates possibilities for mistakes. It all depends on just how much complexity you need to accomodate.
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Thanks for reply.
Looks like first option will work for me. I was thinking the same, loop the program and wait for input or pulse.
So i will have to do output go get 24v thru button then to input. How can i get output active all times? -
What I/O options does this robot have installed? And what I/O hardware do you have connected?
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Beckhoff EK1100
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I’m using KUKA Zenon HMI for user interface. Whit custom HMI there is no KUKA menu and buttons which are required to start robot in automatic mode. So I’m using external mode and have bridged output to input for start the robot (confirm messages, switch on drives and start). In sps I have made routine that pulses to output which is bridged to input until start button is pressed. Exact instructions is covered in past topics in this forum (keyword should be “external start without plc” or something).
I also have switch what I’m using as move enable. So to be able move robot operator must enable the robot movements.
I’m using cell program to maintain home check. Could be useful if someone has stopped program “anywhere” and made reset for program. You can modify it to call only one needed program. Sps calls cell program on startup if robot is switched off in external mode.This is useful also (is you might want stop robot)
http://www.robot-forum.com/rob…robot-forum/stop-program/ -
Beckhoff EK1100That's not an I/O option, that's a bus coupler. What inputs and outputs do you have set up on it?
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I mapped krc 16 I/O to fieldbus 16 I/O.
It would be nice to have stop button as well. -
You can drop $MOVE_ENABLE or $DRIVES_OFF in order to halt program execution.
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You mean drop as of mapp to one of the inputs?
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Drop -> Turn off -> Input will go FALSE.
You will have wire robot outputs (that you can control with software) to robot inputs.
Robot program monitors inputs.
When robot program see change of state on the input (signal goes TRUE -> you pressed the button) it triggers output to go TRUE and that output is wired to one of your inputs that control robot automatic interface.
So for example you press START button that triggers Input1 on the robot.
Program catches it and set Output1 TRUE. That output is wired to input that control robot drives ($DRIVES_ON signal)
STOP button can be used to turn off (drop) one of the signals that control program run ($MOVE_ENABLE)This is pretty ambitious task to complete if you never dealt with KUKA robot before (you are simulating real PLC with robot submit interpreter and wire outputs to inputs to achieve that)
Start with reading MetsaToll post one more time. You do not have HMI interface but physical buttons but everything else will be the same. -
I'll try that! Thanks for your help guys!
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Hello guys,
I still need help with drives on and start/continue the program.
So I got to the point where I'm using wit for input i loop to run program again.
Problem is I need to open the door to change the part and that triggers safety stop, then I have to use smart pad to enable drives and start the program again, I don't want to use smart pad between reloads if that's possible.
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