Hello
i want to find ARC20 (archtech 20 or A10) Manual pdf.
please help me
Hello
i want to find ARC20 (archtech 20 or A10) Manual pdf.
please help me
can i change tool_data[1].z =tool_data[1].z - 10 ?
If you have krc4 or krc5 you can use Workvisual, or you can use Orange edit even if you have older robots like krc1/krc2.
i want change it realtime
hi
i want to shifting all motions PTP or LIN motion .... like (all motions z=z -10)
how can i do it?
IN $Config.dat define the variables (here just examples)
; --- variables ---
INT CNT
REAL VALUES[6]In your program
OFFSET_CR=0
CREAD(HANDLE,SR_T,MR_T,TIMEOUT,OFFSET_CR,"%r%.6r",CNT,VALUES[])
thanks,but my problem is cwrite in sps.src
sometimes cwrite command not send , why?
i using cwrite in sps.src
many thank panic mode
thanks panic mode , hermann .
how can i read from serial in binary format
You must set offset to zero before every reading with cread.
i was set in declaration
INT OFFSET, BCI
DECL STATE_T SR_T, SC_T
DECL MODUS_T MR_T
REAL TIMEOUT
MR_T=#ABS
TIMEOUT=10
OFFSET=0
COPEN(:SER_3,HANDLE)
IF(HANDLE==0) THEN
HALT
ENDIF
LOOP
IF($DATA_SER3>0)THEN
CREAD(HANDLE, SR_T, MR_T, TIMEOUT, OFFSET, "%r", BCI);
ENDIF
ENDLOOP
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after runnig code this error show:
no more data/variables available
and program break.
my problem solved with configuring plc and serial.INI
[COM3]
BAUD=9600
CHAR_LEN=8 ; 7,8
STOP_BIT=1 ; 1,2 at time not changeable
PARITY=2 ; EVEN=2, ODD=1, NONE=0
PROC=1 ; 3964R=1, SRVT=2, WTC=3, XONXOFF=4
How can i change it to none in kuka( serial config)
i think my problem is on kuka proc setting xon xoff , may i change it to none or no?
Hello dears,
my problem is : when i want to comminucate kuka kr c2 (5.6.5) rs-232 (COM3) to my delta plc rs-232 ,nothing sent or nothing received !
but when i comminucate kuka kr c2 (5.6.5) rs-232 (COM3) to my laptop connection is ok.
DEF final( )
;FOLD INI
;FOLD BASISTECH INI
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
BAS (#INITMOV,0 )
;ENDFOLD (BASISTECH INI)
;FOLD USER INI
;Make your modifications here
;FOLD COLLISION_V_3.01 INI ;%{E}
IF (COLLISION_DATA[1].I_NR>0) THEN
GLOBAL INTERRUPT DECL 21 WHEN $IN[COLLISION_DATA[1].I_NR]==FALSE DO COLLSTOP (1,0 )
ENDIF
IF (COLLISION_DATA[2].I_NR>0) THEN
GLOBAL INTERRUPT DECL 22 WHEN $IN[COLLISION_DATA[2].I_NR]==FALSE DO COLLSTOP (2,0 )
ENDIF
IF (COLLISION_DATA[3].I_NR>0) THEN
GLOBAL INTERRUPT DECL 23 WHEN $IN[COLLISION_DATA[3].I_NR]==FALSE DO COLLSTOP (3,0 )
ENDIF
IF (COLLISION_DATA[4].I_NR>0) THEN
GLOBAL INTERRUPT DECL 24 WHEN $IN[COLLISION_DATA[4].I_NR]==FALSE DO COLLSTOP (4,0 )
ENDIF
;ENDFOLD (Collision)
HaltPunktEndeInit()
;ENDFOLD (USER INI)
;ENDFOLD (INI)
;FOLD ; Anlagenbezeichn: Stations-Nr:;%{PE}%R 5.6.13,%MKUKATPBASIS,%CCOMMENT,%VNORMAL,%P 2:Anlagenbezeichn: Stations-Nr:
;ENDFOLD
;FOLD ; Stand / Version:;%{PE}%R 5.6.13,%MKUKATPBASIS,%CCOMMENT,%VNORMAL,%P 2:Stand / Version:
;ENDFOLD
;FOLD ; Name Bearbeiter:;%{PE}%R 5.6.13,%MKUKATPBASIS,%CCOMMENT,%VNORMAL,%P 2:Name Bearbeiter:
;ENDFOLD
;FOLD PTP P0 Vel=100 % PDAT0 Tool[0] Base[0];%{PE}%R 5.6.13,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P0, 3:, 5:100, 7:PDAT0
$BWDSTART=FALSE
PDAT_ACT=PPDAT0
FDAT_ACT=FP0
BAS(#PTP_PARAMS,100)
PTP XP0
;ENDFOLD
MW_T=#SYNC
IR_VALUE=0
IR_VALUE2=0
IR_VALUE3=0
MR_T=#ABS
TIMEOUT=10.0
OFFSET=0
COPEN(:SER_3,HANDLE)
IF(HANDLE==0) THEN
HALT
ENDIF
CWRITE(HANDLE,SW_T,MW_T,"%s","start")
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yes.
yes i know but i didn't run in background.
message every 100ms to 150ms .
my device limited to use rs232 for communication.
i want to use rs232 for some inputs and outputs in background.
all right... go ahead.
How?
Hi there ,
i want to communicate plc to kr c2 controller ( krc5.6 ) , but i want communicate realtime in background and any program running at foreground
thanks