Hello, I have basic knowledge in robotics and I am starting to configure a KUKA KRC2 robot that has a digital input and output module with Interbus protocol through external control with a Siemens PLC. My question is how do I make it so that when I enter a program number on the HMI, that program number is sent to the robot, I have not been able to understand how to send through these instructions: PGNO(number+parity) and PGNO_VALID(READ COMMAND).
Send a program number for the KUKA robot to execute from a Siemens PLC to a KRC2 with digital input and output modules using Interbus.
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lino jelvez -
February 15, 2024 at 3:00 PM -
Thread is Unresolved
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Lemster68
February 15, 2024 at 3:03 PM Approved the thread. -
First: do you have the Interbus connection working? Can you send and receive $INs and $OUTs over the Interbus connection?
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Interbus is a Master/Slave bus system. Who is Master and who is Slave?
KUKA and Siemens also mean to swap low and high byte (on kuka side) - otherwise you will get wrong values.
What input and output modules are you using (normally only slave card and master card is needed)?
As SkyeFire mentioned:
make sure Interbus is workingproper outputs are sent and read as proper input
And after that start dealing with your EXT configuration
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Hi,
If you don't want to use Automatic External functionality you can declare signal that includes bits of position number from PLC :
SIGNAL PosNumber $IN[1] TO $IN[n]
You can declare it locally in declaration part of your submodule or in config.dat file as global variable
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why is lino jelvez not able to answer my question from post #3?