Hi Guys,
I am trying to program a standalone robot with no PLC. Its a Kuka KRC4 Compact.
I have already read the forum discussion https://www.robot-forum.com/robotforum/kuk…top-program/15/ but I still need some help to get running on this. Im a bit confused if I need to wire Outputs into Inputs from this discussion.
Current setup
There is a standard Digital I/O 16 card with X12 head.
Safety is via the X11. I have a Door Interlock and an External Estop.
Button station for the operator. Start, Stop, Reset, Program A or B. ( Wired to I/O)
Tower lights linked to Digital I/O.
Desired Operation.
Operator places a part and closes interlocked door. Presses Start... Program 1 operates. then operator opens the interlocked door... exchanges the tool head .... closes the door presses start... program 2 operates and completes.
How its working at the moment.
The program works well in Aut mode.... except of course when the door interlock is opened, the drives are disabled and program is deselected. The operator would need to resolve these on the smartpad. ( But operator will not be capable of this)
In External mode I have linked $Conf_Mess to a Reset button input, and $Drives_On to a button input...... So when a door interlock event or estop occurs I can get the robot errors acknowledged and drives on via button press. I cannot see how to select the program to get running again in EXT mode...... I am thinking of modifying a cell program, but am unsure how to.
If its possible a sample cell program might jumpstart me. Or some guidance on approaching a solution would be appreciated.