can i program the PLC (I MEAN THE PLC integrated in kr c4) in ladder language ?
because i need to add a sensor . the robot must start the execution of the program after receiving a signal from the sensor ?
KR C4
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eya20 -
April 6, 2017 at 11:45 AM -
Thread is marked as Resolved.
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Hello,
if you want to use PLC Ladder language, the simpliest way is to connect external plc controller and let them to manage execution of robot programs.You can also program use of sensor in robot program, I think it is simplier.
1. Add "WAIT FOR <yourInputSignal>" to your program and robot will be waiting in this line, until condition will be not fullfilled.
2. Add some code to sps.sub ("plc" of robot) and call robot programs from it.For first, I advice you to read KSS 8.3 Operating and Programming Instructions for System Integrators.
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There is no "PLC integrated into the KRC4," unless your robot has the ProconOS SoftPLC option installed. The SoftPLC can be programmed in multiple languages.
If you are referring to the SPS, that is not a PLC, merely a background task, and it only runs the same programming language as the main process task of the KRC.