Is there a way to change the code to make the robot go to 0% when switching from T1 or T2 to auto?
Kuka robot to go to 0% after T1 or T2
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what35188 -
February 12, 2020 at 1:58 PM -
Thread is Unresolved
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what35188
February 12, 2020 at 1:59 PM Changed the title of the thread from “Kuka robot to go to 0% after T1” to “Kuka robot to go to 0% after T1 or T2”. -
SkyeFire
February 12, 2020 at 2:09 PM Moved the thread from forum General Discussion of Industrial Robots Only to forum KUKA Robot Forum. -
Yes. However, this is NOT safety-rated, so DO NOT RELY ON IT for personnel safety.
In the SPS, add a variable in the USER_DECL fold, like:
DECL MODE_OP PreviousMode
Then, in the USER_PLC fold of SPS, add something like:
CodeIF ($MODE_OP <> PreviousMode) THEN ; check for mode change SWITCH $MODE_OP ; check current mode CASE #AUT, #EX ; Auto or External-Auto $OV_PRO = 0 ; set override speed to 0% DEFAULT ; do nothing ENDSWITCH ENDIF PreviousMode = $MODE_OP ; update memory
Of course, this will only reduce $OV_PRO once. It will not hold the speed at 0% once someone starts pushing the +/- buttons on the SmartPad.