Posts by machens

I'm using KUKA KR50R2500 robot and the software version is KRC4 and KSS8.6.10. with RSI

I would like to get realtime robot data XYZABC,A1-A6 and digital input 1-4.

I have successfully implemented the RSI Ethernet example, but I would like only send data. So I changed the RSI config file to

<ONLYSEND>TRUE</ONLYSEND>

but the data send from robot is very slow about 0.5s interval, if the computer dont reply any data.

Another problem is once unselect the RSI program, the data stop sending. How to put the program background so that I can perform other operation.

Thanks,

Ming

Quote from panic mode

Hmm, probably impossible...

Thanks

Any one know？

Video1

VideoLink

I check the document and it said "DEF_Tech is Technology parameters in the main run (function generators 1 to 6)".

what is the meaning for Technology parameters? In the send xml, T21 = "1.09" T22 = "2.08", what is the value mean? Thanks!

<Sen Type="ImFree">
<EStr>Message from RSI TestServer</EStr>
<Tech T21="1.09" T22="2.08" T23="3.07" T24="4.06" T25="5.05" T26="6.04" T27="7.03" T28="8.02" T29="9.01" T210="10.00" />
<RKorr X="0.0000" Y="0.0000" Z="0.0000" A="0.0000" B="0.0000" C="0.0000" />
<DiO>0</DiO>
<IPOC>101919648</IPOC>
</Sen>

I tried to find change logs for RSI, mxAutomation and so on in Xpert, also change logs fo KSS,but i can not find.

Where can I find them?

Quote from panic mode

ret replacing line 28 to

CWRITE($CMD,STAT,MODE,"RUN /R1/t01()")

It works! Thanks!

Quote from SkyeFire

Unconditional CWRITE is a bad idea. You should have the second CWRITE inside an IF $MODE_OP==#AUT statement, like the #EX one above it.

Is there another program selected before the robot is rebooted? And is it still selected after reboot is complete? Or is $PRO_STATE1==#P_FREE? I've never liked use CWRITE RUN without checking $PRO_STATE first and using CWRITE CANCEL beforehand.

For example, this is from the Loop section of an SPS, designed to always Select CELL.SRC whenever the mode was changed to #EX, but the concept is the same:

Code

            IF ($PRO_STATE1==#P_FREE) OR ($MODE_OP<>#EX) THEN
               $FLAG[iProgramStarted]=FALSE
            ENDIF
            IF ($PRO_STATE1<>#P_FREE) AND ($MODE_OP==#EX) AND (NOT ($FLAG[iProgramStarted])) THEN
               CWRITE($CMD, STAT, MODE, "CANCEL")
            ENDIF
            IF ($PRO_STATE1==#P_FREE) AND ($MODE_OP==#EX) THEN
               CWRITE($CMD,STAT,MODE,"RUN /R1/CELL()")
               $FLAG[iProgramStarted]=TRUE
            ENDIF

Since you're trying to run the CWRITE in the Init of the SPS, you could do away with the $FLAG, which was used to ensure the CWRITEs were one-shotted, not cyclical. But you can see that the Interpreter is Cancelled first, then the CWRITE RUN is only executed after $PRO_STATE1 is #P_FREE.

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Thank you for your reply. I test the program in KUKA Office Lite 8.63, is this effect?

As I checked $PRO_STATE1==#P_FREE,and R on the top of the screen is grey. I change the code as the following, but still takes no effect. flag[3] is twinkle，0.5s true，0.5s fales.

&ACCESS  RVO
&COMMENT PLC on control
DEF  SPS ( )

  DECL STATE_T STAT
  DECL MODUS_T MODE

  $LOOP_MSG[]="                                                            "
  MODE=#SYNC
  $H_POS=$H_POS
  ;Automatik extern
  IF $MODE_OP==#EX THEN
    CWRITE($CMD,STAT,MODE,"RUN /R1/CELL()")
  ENDIF
  CWRITE($CMD, STAT, MODE, "CANCEL")
  CWRITE($CMD,STAT,MODE,"RUN /R1/Program/t01()")

  LOOP
    WAIT FOR NOT($POWER_FAIL)
 
    IF ($PRO_STATE1==#P_FREE) OR ($MODE_OP<>#AUT) THEN
      $FLAG[3]=FALSE
    ENDIF
    IF ($PRO_STATE1<>#P_FREE) AND ($MODE_OP==#AUT) AND (NOT ($FLAG[3])) THEN
      CWRITE($CMD, STAT, MODE, "CANCEL")
    ENDIF
    IF ($PRO_STATE1==#P_FREE) AND ($MODE_OP==#AUT) THEN
      CWRITE($CMD,STAT,MODE,"RUN /R1/Program/t01()")
      $FLAG[3]=TRUE
    ENDIF

  ENDLOOP



END

I added CWRITE in sps, but the program does not select on startup. Can anyone help? Thanks

&ACCESS RVO

&COMMENT PLC on control

DEF SPS ( )

;FOLD DECLARATIONS

;FOLD BASISTECH DECL

;Automatik extern

DECL STATE_T STAT

DECL MODUS_T MODE

;ENDFOLD (BASISTECH DECL)

;FOLD USER DECL

; Please insert user defined declarations

;ENDFOLD (USER DECL)

;ENDFOLD (DECLARATIONS)

;FOLD INI

;FOLD AUTOEXT INIT

INTERRUPT DECL 91 WHEN $PRO_STATE1==#P_FREE DO RESET_OUT ()

INTERRUPT ON 91

INTERRUPT DECL 92 WHEN $PRO_MOVE==TRUE DO RESET_LINESEL()

INTERRUPT ON 92

$LOOP_MSG[]=" "

MODE=#SYNC

$H_POS=$H_POS

;Automatik extern

IF $MODE_OP==#EX THEN

CWRITE($CMD,STAT,MODE,"RUN /R1/CELL()")

ENDIF

CWRITE($CMD,STAT,MODE,"RUN /R1/Program/t()")

LOOP

WAIT FOR NOT($POWER_FAIL)

CWRITE($CMD,STAT,MODE,"RUN /R1/Program/t()")

ENDLOOP

;FOLD

END

;ENDFOLD

DEF RESET_OUT ( )

INT N

MsgLoop(" ")

IF REFLECT_PROG_NR == 1 THEN

FOR N = 0 TO PGNO_LENGTH - 1

$OUT[PGNO_FBIT_REFL + N] = FALSE

ENDFOR

ENDIF

IF (PGNO_REQ>0) THEN

$OUT[PGNO_REQ]=FALSE

ELSE

IF (PGNO_REQ<0) THEN

$OUT[-PGNO_REQ]=TRUE

ENDIF

ENDIF

END

DEF RESET_LINESEL()

$LINE_SEL_OK=FALSE

END

;FOLD USER SUBROUTINE

; Integrate your user defined subroutines

;ENDFOLD (USER SUBROUTINE)

;ENDFOLD

Quote from panic mode

Try Y200 or avoid using inputs

what is Y200?

Thanks

In T1 mode SIM On, i can set the Digital Input to High, but how to set it in AUT mode, as there is no Value button even SIM ON?

Thank you for your reply.

I installed mxAutomation on officelite and set the KLI port IP, but it doesn't work. Ping command is not reachable.

I tried KUKA Router, but the UDP option is not available.

How can I make it work?

Any suggestion will be appreciate. Thank you.