Hi, can anyone explain how to set robo auto-ext speed through Siemens plc in kuka krc5
Setting robot speed from PLC
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ajey kumar -
February 25, 2022 at 7:52 AM -
Thread is Unresolved
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Hi,
Map a signal from the PLC. In the sps.sub assign it to $OV_PRO, within an IF statement, so it only does it in auto external (IF $MODE_OP==#EX)
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This needs some interlocking, though:
Code
Display MoreSIGNAL iPLCSpeed $IN[1] TO $IN[8] DECL INT nPLCSpeed IF $AUT or $EXT THEN ; only apply PLC speed in Automatic modes nPLCSpeed = iPLCSpeed ; transcribe input byte to integer IF nPLCSpeed < 0 THEN nPLCSpeed=0 ; avoid negative values ENDIF IF nPLCSpeed>100 THEN; nPLCSpeed=100 ; $OV_PRO only accepts integers between 0 and 100 ENDIF $OV_PRO = nPLCSpeed ; write speed to $OV_PRO ENDIF
Keep in mind, though -- this can be dangerous. I've worked on systems that relied on this method, but it made it hard to do debug testing. One slip on the PLC/HMI side and the robot you expected to be running at 10% might suddenly be running at 100%.
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At least since KRC4 there exist the variable $OV_APPL, if you use that you can set the override at the smartpad ($ov_pro) and this is not affected by the PLC which then sets $OV_APPL.
For the overall override those two variables are mutliplied.