Hello
It's the swap function working in WOV 4.0. I want to send word value to a PLC Siemens. I can swap in PLC but it's more correct for me to use the VOW function.
Thank You
Swap
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Casius -
February 14, 2017 at 9:15 AM -
Thread is marked as Resolved.
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Hi Casius,
you can use the KRL Command CAST_TO,CAST_FROM to realize the swapping function in robot program.
Kind Regards
Andrew来自我的 MI 5s 上的 Tapatalk
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Byte-swapping in WorkVisual can be performed from the I/O Mapping tab, as described in the manual.
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Thank you for your answer.
It's there a rule to fallow? I did it for inputs and also for outputs but no results. It's simple, click and drag those 2 bytes for an orange bar. If I swap the bytes in the PLC is working.
I also declared my word in config.dat and I mapped that group to Profinet swapped area.
SIGNAL CMD $IN[250] TO $IN[265]
Thank you! -
Define "no results." Details matter.
Is byte-swapping necessary? Have you determined if your PLC is using Big-Endian or Little-Endian ordering? What type of PLC is it? Byte-swapping should only be performed on one end of the Robot<>PLC connection -- doing it on both ends is self-defeating. Have you performed a careful bit-by-bit test of your declared SIGNAL to confirm the bit order matches what it should be?
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Hello Casius,
please have a check at attached pictures which demonstrates data swapping and conversion in float data.It can be similarly using for integer.
来自我的 MI 5s 上的 Tapatalk
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Thank you for your answers
Is I have checked bit-by-bit and it's ok. The PLC is Siemens 1500. I did't make it on both end, I was just checking if I swap in PLC (the output) it will be fine in robot(input). And the result was good in the robot
Andrew where do I call those function? SPS ?
Thank you!
I can share a WOV backup if it will help. I will have more kuka robot and It will be good for me to use that option -
If the bit-by-bit check comes out OK, then you should be good to go. The byte-swap can be performed at either end, there's no set "best practice" for it -- you can do it on the PLC or in WV, whichever is easier.
Once you've done the byte swap, you should be able to use simple SIGNAL declarations in KRL. No byte-swapping subroutines should be necessary. -
if swap is needed, do it on one side only... (either robot or PLC). each next swap cancels what previous swap did.