Helllo everyone,
I am primarlly working with KRC4 & KRC5 - KSS 8.7 & 8.6.
When robot is durring program in $WAIT_FOR_ON == TRUE condition, i would like to send information to PLC about the input which robot is waitng for.
I allready tried to work with char variable $WAIT_FOR[], but i am kind a lost working with that.
Maybe there is anotherway how to do this properly, let me know your experiences.
Thanks Choze. 
that does not tell you much... just which interpreter is waiting but not what is it waiting for.
if you need PLC to know what robot is waiting for, add own handshake or status.
DECL INT WaitExpression
WaitExpression=1
WAIT FOR $IN[11] OR $IN[33]
WaitExpression=2
WAIT FOR $IN_HOME
WaitExpression=3
WAIT FOR $AUT
etc.
then your PLC only needs to know value of WaitExpression. if you are displaying this on HMI, you can make a list or multistate indicator to show message whatever is robot waiting for.
the other option is to look at the messages themselves. monitor if messages are displayed, read through all of them, find message you are interested in, extract info from it... there should be KUKA option for this, called KUKA.KRMSGNET.
WaitExpression=1
WAIT FOR $IN[11] OR $IN[33]
WaitExpression=2
WAIT FOR $IN_HOME
WaitExpression=3
WAIT FOR $AUT
This was exactly thing what i was talking about.
I was thinking to "automate" this procces in sps, to get somehow the value WaitExpression from $WAIT_FOR[] and in sps send it to plc and etc.
