Hi I work on a kuka robot in krc1 i use it in sanding and I would like to associate the stop of the compressed air outlet with the emergency stop button on the kcp
do you know a way to do this ?
thank you very much and have a good week everyone
emergency stop associated with exits
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hugochab38 -
November 26, 2018 at 8:56 AM -
Thread is marked as Resolved.
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The E-Stop on the KCP is an internal signal, and cannot have any other signals "associate" with it.
However, the X11 support an external E-Stop signal, which has the same effect as the KCP E-Stop (aside from a slightly different error message). So wiring your compressed-air signal into the E-Stop channel on the X11 connector should have the effect you are trying to achieve.
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place in your SPS loop line like
$OUT [12]=$ALARM_STOP
or
$OUT [12]=$ALARM_STOP_INTERN
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Ah... I thought he wanted the robot to E-Stop when the air was lost, but yes, wanting the air to stop if/when the robot E-Stop is pressed also makes sense.
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ok so exactly i probably explain myself badly
first thanks for your helpI would like that when the operator presses the red emergency stop button
the air of the sander cuts to avoid over sanding the pieceso i test to write after the ini $OUT[20]=$ALARM_STOP
But when i press the emergency stop nothing change the air still herei d'ont understand what are you meaning by sls loop line
probably i write it in the wrong placethanks a lot
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you need to login as Expert,
navigate to KRC:\R1\System and open file SPS.SUBinside that file is an endless loop. you need to open that "user PLC" section which is inside mentioned loop, add the code, close file and save changes. then you will see output respond to EStop press. You can use this output to control whatever you need (kill air, turn on buzzer, change TV channel...)
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thanks a lot it works but when i write in sps loop it's automaticcaly erase i think the file is protect ?
so i test to write in the file IR_STPM and it works
tkanks for your ccoperation :grinning- -
IR_STOPM is also a good place to put any code that needs to execute on an E-Stop.
The SPS should not be write-protected. However, you need to use Open, not Select, in order to edit it. Select loads the program for execution, and will act as if the file is partially write-protected. Open will de-select the SPS and give you full write access to the program.
Hm... actually, on a KRC1, it might be necessary to manually Cancel/de-select the SPS first, before attempting to Open the SPS.SUB, and then manually re-select the SPS after you finish the edits. Newer KUKA controllers will do all that for you, but the KRC1 might pre-date that improvement.