Hello together,
how are your stratagies to transfer variables between Siemens SPS and KUKA via PN when they just have to be transfered once (maybe at the moment when sending the PGNO to start a program). Often the variables are static while the task is running so there is no reason to use the PN signals directly in the program. Also you can perform a validly check before entering the main program.
I am aware of "saving" the current I/Os for example in the config then starting the task. But the SPS and the robot are not running with the same cycle(time) so the SPS has to transmit the data over a longer duration. How is your stratagy in this case?
Just holding the variables available the whole or defined time? Using a bit "transfer done"? Mirroring the inputs to outputs so the sps can compare? Or is there an even more simple way?
Greetings
KSS8.5