FOR-ENDFOR alternativ in sps.sub

    Dear Kuka Community,


    I have a general question regarding the subroutines. In our KUKA (KRC 5 ), the robot is required to perform palletizing processes. I need to link the palletizing counter in each section with the gripper open/close signal. This means that when the robot opens the gripper in a particular section, the palletizing counter for that section will increment. However, due to the high number of sections where palletizing needs to be done, I need a solution similar to this one.


    Actually, I want to avoid the FOR/ENDFOR loop in sps.sub. therefore Iam searching for anew ideas

    I am glad to hear yours

    BR
    HENRY

    what is the purpose of this? status indication of what the palletizer/depalletizer did?

    why not do that in the robot program? then there is no need for looping. and the way the code is written, line 11 is almost never be executed due conflict with line 6

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

    The customer requests that the piece counter automatically increments whenever the robot opens the gripper in a specific section. Since the robot consistently places parts in these sections, each time the gripper is opened, a new part is added to that section. They aim to prevent any delays that could impact the accuracy of the parts count, such as pressing the initial state button or emergency stop button before the progress indicator reaches the counter increment.


    *thanx i already notice the failed negation in line 11

    Edited once, last by Henry100 (June 3, 2024 at 4:35 PM).

    Is there a particular reason you want to avoid the FOR loop in the SPS? These days, the processors run fast enough that the impact on the SPS execution time should be negligible.

    Since this is a KRC5, I assume it's running KSS 8.6 or higher. That should have multi-Submit by default. If your concern is the FOR loop slowing down something else in the SPS, creating one of the secondary SPSs dedicated to just this update loop should eliminate that concern.

    Alternatively, you could use the cyclic nature of the SPS, and have one element of the 2D iCounter array update every SPS loop. This would keep the SPS execution time constant, and leverge the SPS's raw speed to keep the iCounter update rate fast.

    that is right...

    Generally, I wanted to avoid any impact on SPS execution. so I created a secondary SPS but due to the reason I did not have the robot till now so I tried to test it with KUKA.SIM. But it was too much for KUKA.Sim. :grimacing_face:

    thank you both of you for your feedback

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