Hey all!
I hope someone can help me with sending the $VEL_ACT signal through 8-bit digital output. But first, some background information:
I am Nickel and I have a passion for new technologies and innovations, which is why I am currently studying mechanical engineering at my local university. For my current project I must transform a KUKA robotic arm into a useable 3D-printer and since I cannot send any G-code from my Arduino Board to the KUKA controller I have decided to try something else based on the related topics which I have read on this forum. I would like to control the feed rate of my 3D-printer by sending the $VEL_ACT signal from the KUKA controller to my Arduino board.
I have already designed, implemented, and coded the Arduino, but to make it work with the robotic arm I will need to send the $VEL_ACT signal to the Arduino, and unfortunately, this is where I am stranded.
I do not have a lot of experience with robotic arms or serious coding, so I don’t really know where to start, but I am very eager to learn. Based on my research I have come up with the following:
I will need to find the loop in the SPS.SUB file, and then I will need to write various if statements, a bit like this:
IF $VEL_ACT > 0.040 && $VEL_ACT < 0.050 THEN
$OUT[1]=TRUE
$OUT[2]=FALSE
$OUT[3]=FALSE
$OUT[4]=FALSE
$OUT[5]=FALSE
$OUT[6]=FALSE
$OUT[7]=FALSE
$OUT[8]=FALSE
ENDIF
IF $VEL_ACT > 0.050 && $VEL_ACT < 0.060 THEN
$OUT[1]=FALSE
$OUT[2]=TRUE
$OUT[3]=FALSE
$OUT[4]=FALSE
$OUT[5]=FALSE
$OUT[6]=FALSE
$OUT[7]=FALSE
$OUT[8]=FALSE
ENDIF
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Is this correct, is my idea behind the coding correct? The code itself might have a few errors since I am not yet familiar with the KRL, but I am really wondering if this would all work in theory.
Oh, and I am using a KUKA KR12 R1810 with a KR C4 controller and KSS version 8.3.30. For the I/O I am using the Beckhoff EL2809.