How to add a heart beat in the sps

plustandard · July 13, 2019 at 4:09 AM

Dear all.
In a simple case, I have done the palletizing with kuka kr5 krc4.
Everything runs well. But my customer want an output during the program running.
They want an heart beats (1 rise up / sec.)when the robot is running my program.
How can I do that? I mean I do not know how to write the code.

**panic mode** · July 13, 2019 at 7:40 AM

get your hands on programming manual for system integrators and system variables manual. check variables like $TIMER, $PRO_IP, $PRO_STATE etc. i would suggest creating own expert module and test it in robot interpreter. once everything works, just link it with Submit.

Casius · July 13, 2019 at 10:47 PM

Hello,
You can make a logic like:
If ($pro_act==true and ($date.sec-($date.sec/2)*2==0)) then
Beat=true
else
Beat=false
endif

$pro_act --This output is set whenever a process is active at robot level
($date.sec-(-$date.sec/2)*2==0) is $date.sec modulo 2==0, read the clock and for 1 sec you will have a beat.

Maybe you will have to modify the modulo syntax but is a tip.

**panic mode** · July 14, 2019 at 5:07 AM

do they need to know if some program is running or they want info on specific program?

plustandard · July 15, 2019 at 6:58 AM

Quote from Casius

Hello,
You can make a logic like:
If ($pro_act==true and ($date.sec-($date.sec/2)*2==0)) then
Beat=true
else
Beat=false
endif

$pro_act --This output is set whenever a process is active at robot level
($date.sec-(-$date.sec/2)*2==0) is $date.sec modulo 2==0, read the clock and for 1 sec you will have a beat.

Maybe you will have to modify the modulo syntax but is a tip.

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Thanks Casius
I try your code this morning, I found that the $date.sec is error. Seems there is no system Variables named $date.sec
Can you tell me more.
Sorry I do not make a systematic study of kuka program. Just study how to make code by reading others.

plustandard · July 15, 2019 at 7:12 AM

Quote from panic mode

do they need to know if some program is running(I will use a msgnotify ("") for this function) or they want info on specific program?

Thanks your help Panic mode
I followed the tips from you and Casius.
Yes,I need to know which program is running, and what is the current status of the robot.

I make some code like this.

Code

IF ($MODE_OP==#AUT) And ($pro_state==#P_Active) and THEN ;make sure the program is running, then start the heart beat
  $timer[3]=0  
  $TIMER_STOP[3]=FALSE
  IF $TIMER[3]>1000 THEN ;the time can not use "=="to check the current data, I can only make sure it is more then 1000ms
    $out[3]=TRUE  
  ENDIF
  IF $TIMER[3]>2000 THEN
    $out[3]=FALSE
    $TIMER[3]=0
  ENDIF
ENDIF

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But I meet a new problem. I put the code in sps. The kuka rise up a error "sps is read protect only"
What's wrong on my code??

**panic mode** · July 15, 2019 at 2:58 PM

those are two separate questions

Quote from plustandard

I put the code in sps. The kuka rise up a error "sps is read protect only"

this has nothing to do with code. simply file is protected. if you want to edit it, you need to remove write protection.
this usually means checking and changing file attributes.
in case of KSS8.3 with installed MultiSubmit, SPS tasks must be cancelled manually before editing.

Quote from plustandard

What's wrong on my code??

few things, both logic and syntax

plustandard · July 17, 2019 at 2:42 AM

Quote from panic mode

those are two separate questions

this has nothing to do with code. simply file is protected. if you want to edit it, you need to remove write protection.
this usually means checking and changing file attributes.
in case of KSS8.3 with installed MultiSubmit, SPS tasks must be cancelled manually before editing.

few things, both logic and syntax

Hello Panic mode.
Finally, I want to share my solution.
For the sps. I modified it in workvisual(actully,modified the sps in expert mode is ok).
And I found that can not use some system variables. like:$mode_op and $pro_start etc.
But we can do it like this:

Code

;ADD codes in SPS between LOOP and ENDLOOP
$TIMER[3]=0
$TIMER_STOP[3]=FALSE
LOOP
.
.
.
HB_1( )
.
.
.
ENDLOOP

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Code

;create a sub program
DEF HB_1( )
IF ($MODE_OP==#AUT) OR ($MODE_OP==#T2) THEN
    IF $TIMER[3]>1000 THEN
        $OUT[6]=TRUE
    ENDIF


    IF $TIMER[3]>2000 THEN
        $OUT[6]=FALSE
        $TIMER[3]=0
    ENDIF


ELSE
    $OUT[6]=FALSE
ENDIF

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**SkyeFire** · July 17, 2019 at 3:00 PM

I can offer a slightly more compact method of making a heartbeat, just for the heck of it:

Code

$TIMER[1] = -1000
$TIMER_STOP[1] = FALSE ; these lines go in the INI section of the SPS


LOOP ; the built-in Loop section of the SPS


  ; add this to the User section of the SPS loop
  IF $TIMER_FLAG[1] THEN ; True whenever Timer>=0
    $OUT[1] = NOT $OUT[1] ; invert signal state
    $TIMER[1] = -1000
  ENDIF


ENDLOOP

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**panic mode** · July 17, 2019 at 6:19 PM

Quote from plustandard

And I found that can not use some system variables. like:$mode_op and $pro_start etc.

All variables can be used. That is the whole point to have them.
If that was not possible, they have no reason to exist.
you actually use $MODE_OP in your own example.

there may be limitations in terms of scope or access type but ALL variables can be used.

the leg · July 18, 2019 at 2:12 PM

Quote from SkyeFire

I can offer a slightly more compact method of making a heartbeat, just for the heck of it:

Code

$TIMER[1] = -1000
$TIMER_STOP[1] = FALSE ; these lines go in the INI section of the SPS


LOOP ; the built-in Loop section of the SPS


  ; add this to the User section of the SPS loop
  IF $TIMER_FLAG[1] THEN ; True whenever Timer>=0
    $OUT[1] = NOT $OUT[1] ; invert signal state
    $TIMER[1] = -1000
  ENDIF


ENDLOOP

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Or in 1 line in the sps

$out[100]= ($date.sec-($date.sec/2)*2==0) AND $PRO_ACT AND $EXT

**panic mode** · July 18, 2019 at 3:11 PM

nice but still it only tells that some program is running, not a specific one.

the leg · July 18, 2019 at 3:31 PM

Quote from panic mode

nice but still it only tells that some program is running, not a specific one.

True he would need to a variable maybe to his module but i liked the one line

**SkyeFire** · July 18, 2019 at 4:08 PM

Quote from the leg

Or in 1 line in the sps

$out[100]= ($date.sec-($date.sec/2)*2==0) AND $PRO_ACT AND $EXT

Yabbut, that only works for a 0.5Hz waveform. Which, I admit, is what the OP asked for, so... you win.

the leg · July 18, 2019 at 4:12 PM

Thanks

**panic mode** · July 18, 2019 at 4:45 PM

really? how is 0.5Hz equal to "1 rise per second"?
0.5Hz<>1Hz

**SkyeFire** · July 18, 2019 at 6:25 PM

Quote from panic mode

nice but still it only tells that some program is running, not a specific one.

Hm. I once did something along those lines using $PRO_IP.SI0x.NAME[], where the 'x' represents the level of the call stack. Depending on whether the program the OP wants to identify is reliably at a known level (SI02, SI05, etc), it might be necessary to create a subroutine that can search through the stack looking for a string match.

**SkyeFire** · July 18, 2019 at 6:27 PM

Quote from panic mode

really? how is 0.5Hz equal to "1 rise per second"?
0.5Hz<>1Hz

Unless I'm missing something, as written, the output only goes True when the $DATE.SEC value is an even number. That would generate one positive edge every 2sec, for 0.5Hz.

**panic mode** · July 18, 2019 at 7:22 PM

that is correct but OP stated rise once per second so - 1Hz was expected but 0.5Hz was demonstrated.
just being stickler ...

How to add a heart beat in the sps

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