Hi there,
I have two KRC4 compact controllers running KS V8.3.157, controlling KR10 R900 Agilius robots, tracking the same conveyor using ConveyorTech 6.0.0 and KUKA supplied resolvers. I have been testing onsite and had some support help from KUKA already, but none of the inbuilt conveyor functions are really cutting it for this application.
Currently I am trying to manage the work piece queue in the robot with the sps, using this code:
$SEN_PREA_C[1] system variable contains the current tracked distance of the workpiece at the front of the queue. If the tracked distance exceeds the distance the robot can still place on it (MAXDIST variable), then delete the current workpiece.
The problem I have identified is that multiple workpieces are being deleted. $SEN_PREA_C[1] > MAXDIST is remaining true for more than one cycle of the sps. Even though the current workpiece is deleted $SEN_PREA_C[1] isn’t updated to reflect the current tracked distance of the next workpiece, or multiple calls to delete a workpieces from the queue are executed before $SEN_PREA_C[1] is updated.
Has anyone had any experience with conveyor tracking or monitoring the $SEN_PREA_C system variable? Any ideas on how I can to essentially wait until a single workpiece has been deleted and $SEN_PREA_C[1] has been updated without adding in WAIT commands in the sps?