Does Kuka have an equivalent function to Fanuc's "In Wait"?
I want to set an output when the robot is waiting on a signal of any sort
KRC4 8.6
Does Kuka have an equivalent function to Fanuc's "In Wait"?
I want to set an output when the robot is waiting on a signal of any sort
KRC4 8.6
If understood your question correctly, you are looking for something like "Wait for $in[_ChDI_SignalNr]"
Or maybe you are looking for Interrupts.
See my attached screenshot.
If the robot is waiting on an input in the range DI[1-512] for more then one second, DO[40] will be set true until the wait it released.
I basically want to know if the advance run is stopped on a wait instruction. Preferably without setting a bit before every wait.
This seems to be what I was looking for however I cannot test it.
$OUT[123] = $WAIT_FOR_ON
Guess I didn't look hard enough the first time
Just some additional information on $WAIT_FOR_ON. It reflects the WAIT FOR status of the interpreter you are in. So if you put the $OUT[123] = $WAIT_FOR_ON inside of the SPS, it will only go true if the SPS is at a WAIT FOR. Likewise, if you're in the Robot Interpreter, it is the status of the WAIT FOR in that interpreter.
To but your monitoring in the SPS, but to look at the path program, you can use $WAIT_FOR_ON1:
$OUT[123] = $WAIT_FOR_ON1
The $WAIT_FOR_ON1 monitors whether the robot interpreter (path program) is currently waiting at a WAIT FOR condition.
In regards to the input range, there isn't really anything like that, but you can possibly use $WAIT_FOR1[] as this contains the WAIT FOR condition. So if you have:
WAIT FOR $IN[1]
Then $WAIT_FOR1[] = "WAIT FOR $IN[1]"
But there is an exception, if you have long text setup for your IO, then rather than containing the WAIT FOR $IN[1], it will have the "WAIT FOR <longtext>" value.