Hi, I have a Kuka KR60HA robot with a CR4 controller and KSS 8.6. Is there a way to automatically start the CELL program when the robot boots up from a restart?
Thank you
Hi, I have a Kuka KR60HA robot with a CR4 controller and KSS 8.6. Is there a way to automatically start the CELL program when the robot boots up from a restart?
Thank you
Start, or Select? Those are two different things.
The default SPS contains a line of code in the INIT section of the SPS that, if the robot is Cold Started while in External mode, will load CELL() for execution. You can find this by looking for the CWRITE command to the $CMD handle.
But starting is different. That requires an explicit start signal and particular starting conditions.
if my memory is any good, there used to be an option to only select program. but based on more recent experience. CWRITE does not support "selecting" of the program. for some odd reason, that option is left out and one can only "run" program (at least when using CWRITE). that test was done on KSS8.3 and 8.5, not sure if this was fixed in more recent KSS like 8.6 or higher.
the "workaround" is to have move enable low, then use CWRITE "run" option, then turn on move enable. this is an example of something that user should not need to mess with - CWRITE should be able to only select program and still wait for external start. but chances are, before we see the change, more people would need to bug KUKA about it.