KUKA - Call Program using String variables

    Hello everyone,

    I'm facing a difficulty and would like some help regarding KUKA KRC5 robots.

    I need to call a program using a STRING (CHAR ARRAY from PLC). I'm trying the following approach:

    CWRITE($CMD, STAT, MODE, "RUN /R1/%s()", achPathProgDobra[])

    In the SPS, it works correctly. However, when I place this function inside a .src module, it does not call the program.

    How can I solve this and call the program using this function inside a .src module?

    Thanks!

    You can't. This is an inherent limitation of the CWRITE RUN command.

    Put briefly: the KRC has multiple command interpreters that run in parallel. The Robot Interpreter (Level 1) which is the only one that can drive the robot motion, and the SPS (Level 0) that can execute almost all non-motion KRL code.

    (I'm leaving out the secondary SPSs)

    Each interpreter can only issue CWRITE RUN/STOP/CANCEL commands to the other interpreter. So, in your .SRC module, the CWRITE commands can control what the SPS is running, but it can't CANCEL itself or trigger the execution of a different Level 1 program. Likewise, the SPS can issue CWRITE RUN/STOP/CANCEL commands to the L1 interpreter, but not to itself.

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