Hi all, I'm have a KRC4 with KSS V8.3, recently i'm trying to use PLC siemens for EXT AUT KUKA. Thanks for a lot helpful topics in this board before, everything work fine. But how i can control Robot by Siemens without open cell pro, turn the mode to T1 then run until BCO? I mean I just need to power up the KRC4 and everything else depend on PLC. Everything will be appreciated. Thanks.
Automatic external
- apakrat13
- Thread is marked as Resolved.
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Assuming the program you want to call at startup is program(), in your SPS.SUB you may do the following:
You need to have left the mode in EXT AUT when you switched off the controller. By powering up it will call the program() directly
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Before you automate startup and skip BCO, you need to develop homing/recovery procedure
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You might also want to stop and reset the program every time you stop the robot with the plc. That way you can restart the program and execute homing sequence every time robot stops via plc. i do thi in my sps.sub
IF $IN[250]==TRUE THEN
CWRITE($CMD,STAT,MODE,"STOP 1")
CWRITE($CMD,STAT,MODE,"CANCEL 1")
$out[170] = false
ENDIF
IF $IN[251]==TRUE THEN
CWRITE($CMD,STAT,MODE,"RUN/R1/cell()")
$out[170] = false
ENDIFwhere in 250 is a signal from my plc to cancel program and 251 is to select cell program when system is restarted, then i select appropiate program by using cell structure. you can change cell to your main program name directly here.
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It seem like SPS.SUB is a strong tool, i thought i skipped this part when i read manuals. Thanks you all, guys. It's realy helpful.
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