Robot Programing - PLC master

Hello all.

I am using the following equipment:

KUKA KRC4 with Profinet-Profisafe (KSS 8.6)

S7-1200 F PLC (Tia portal V15.1)

So far, I have set up the communication with the Robot controller and the PLC over Profinet/Profisafe, this works.

I made an I/O table for the Robot controller and the PLC to communicate. So, with a certain input I call a module where a motion program is written. At the end of this motion program I set that a job was done and then wait for the PLC to reset the input that triggered the execution of this module and then I also reset the job done bit.

Main program example:

DEF MainProg ( )
   
   LOOP  
      WHILE di_GoHome 
         GoHome()
      ENDWHILE
      CONTINUE
     while di_VstpTrk_P1_Start or di_VstpTrk_P2_Start
         TrakPickup()
      ENDWHILE
      CONTINUE
       
      WHILE di_VstTM1_Start or di_VstTM2_Start or di_VstTM3_Start or di_VstTM4_Start
         TRF_2TM()              
      ENDWHILE
      CONTINUE
      while di_OdvTM1_Start or di_OdvTM2_Start or di_OdvTM3_Start or di_OdvTM4_Start
         Odv_TM()
      endwhile
      CONTINUE      
      ;--Natikanje matice--
     
   ENDLOOP 
   
END

Example of a module goHome() :

EF Home_Rutina ( )
   
;FOLD PTP HOME CONT Vel=100 % PDAT12 ColDetect[1];%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=HOME; Kuka.BlendingEnabled=True; Kuka.APXEnabled=False; Kuka.MoveDataPtpName=PDAT12; Kuka.VelocityPtp=100; Kuka.CurrentCDSetIndex=1; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
;ENDFOLD
$BWDSTART = FALSE
PDAT_ACT = PPDAT12
FDAT_ACT = FHOME
BAS(#PTP_PARAMS, 100.0)
SET_CD_PARAMS (1)
PTP XHOME C_Dis
;ENDFOLD
      CONTINUE
      do_VIzhod_VstpTrak = TRUE
      CONTINUE
      wait for not di_Izhodisce_VstpTrak
      CONTINUE      
      do_VIzhod_VstpTrak = FALSE
   ENDWHILE
   
END

In short this is how I wrote the logic in the Robot controller. Almost too simple, right?

But I have more complex modules where I have several motion commands, followed up by a gripper control and in the end always the same procedure that is in the goHome module. I set the ‘OK’ bit wait for the start bit to be reset and then reset the OK bit again. When this module is executing, I get this error: Sequence of instructions that cannot be approximated – KSS01442

What advice could you give me so that I avoid getting these errors.

Thanks

Cheers

Aleix

Hello.

Thanks for the info.

By aproximation you mean that I set the aproximation distance to 0 in the in line form?

Cheers

A

Hello.

I removed the CONT from the in-line forms. That did the trick... but

The robot is stopping on points now of course, I am gonna try and play with where can I get away with the CONT function tomorrow.

What about my method of calling the modules, is this OK or are there any drawbacks that I am not aware of? Bear in mind that I am totally new to robot programming...

Cheers

Aleix