thank you for your comment. I know I can't write but what can I do about this ? that means, I want to send the current position of tool to PLC.
Do you have a recommend ?
If you help me, I really will be pleased.
thank you for your comment. I know I can't write but what can I do about this ? that means, I want to send the current position of tool to PLC.
Do you have a recommend ?
If you help me, I really will be pleased.
Hi Everyone!
I have a question about kuka SPS.SUB() , I want to sent to Plc(HMI) the current positions of kuka robot.
its like this;
I write the code inside SPS_SUB()
$TOOL = TOOL_DATA[1]
$BASE = BASE_DATA[1]
LOOP
(32-bit) X_CURRENT_POS = $POS_ACT.X
(32-bit) Y_CURRENT_POS = $POS_ACT.Y
(32-bit) Z_CURRENT_POS = $POS_ACT.Z
(32-bit) A_CURRENT_POS = $POS_ACT.A
(32-bit) B_CURRENT_POS = $POS_ACT.B
(32-bit) C_CURRENT_POS = $POS_ACT.C
ENDLOOP
but I everytime receive this message; " $TOOL variable write-protected in module SPS" and Sps is error.
If you help me about this problem, I will be pleased. thank you
Hello everyone, I have a question about global Interrupt. When I push button, I want to pause the program that means Want to create interrupt but I wonder How Can the program turn to home position in the interrupt program. If you can help me, I will be happy