First thanks for everybody of all KUKA support what I have receive from here. I'm still learning KUKA tricks and it is long way to go but....slowly step by step I will make this happen.
But now I have to issues:
* How I can change robot speed "on the fly"? Im getting override request from PLC and I tried to read thhat value and set it to $OVR_ROB. And I tried to put this to sps. But it didnt work
;IF($MODE_OP==#EX) and ($PRO_ACT) and (UpdateSpeedRequest) THEN
; $OV_ROB = RequestedSpeed
;ENDIF
*Then another thing. How to generate easily alarm message which set robot to fault mode?
MsgQuit ("Alarm text here")