Hello everyone,
I am using the robot: KR10 R1100 sixx with controller: KRC4, KSS: 8.3
I have an external resolver mounted on a conveyor and connected to the XP7.1 and I use the ConveyorTech 6.0.
Everything work fine and I could integrate the conveyor in my program.
I need however to get access to the "ticks" that are provided from the external resolver in some other part of my KRL program. So I need this values to estimate the distance of the conveyor in any span of time, regardless whether the conveyor is initialized in the program or not. So I can't make use of the variable $SEN_PREA_C[] because it only has a value from the point where the triggering signal for the conveyor is activated. But in my case I need to measure the conveyor distance between two arbitrary points in time regradless of the triggering signal
I could however see the resolver values of the different resolvers connected to the RDC in the Diagnosemonitor on the HMI (I'm not sure how it's named in english, see the attachment). So it must be a way to access these values from the KRL program. But I couldn't found it. Could anyone help me please!?