Posts by lzd112286
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yes, in my mind, it is that KUKA.OPC server allows access to the I/O's of OfficeLite. ProConOS is the system of SoftPLC. And I contacted to KUKA simulation department, then they gave me the information that KUKA.OPC server can be installed in the OfficeLite, but they cann't make sure ProConOS is needed to be installed to support the KUKA.OPC server. So, I want to post the information and hope to get your suggestion. thanks in advance.
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There is a new project. first, I need to set up a virtual commissioning in DELMIA. In the virtual commissioning, I want to achieve the interaction between PLC IO and KUKA robot IO. and In my PC I install KUKA.OfficeLite, in order to interaction with external PLC program (such as SIEMENS STEP7), Do I need to install other KUKA technology package such as KUKA.OPC server ? Thanks in advance.
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In my opinion, the meaning which a negative number makes the signal inverted logic is right.
SkyeFire, thanks again.
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SkyeFire , thank you first.
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Using the negative sign negates the already-negative number, making it positive
If only the reasons, $OUT[PGNO_REQ] and $OUT[-PGNO_REQ] should reset with the same value(eg. TRUE).CodeIF (PGNO_REQ>0) THEN ;active high $OUT[PGNO_REQ]=FALSE ;reset WAIT SEC 0.2 ;delay for plc ENDIF IF (PGNO_REQ<0) THEN ;active low $OUT[PGNO_REQ*(-1)]=TRUE ;reset WAIT SEC 0.2 ;delay for plc ENDIF
I found the above codes in the P00.src.
APPL_RUN has a similar situation , but titan72 explain it in the site (http://www.roboterforum.de)as follows:
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APPL_RUNWertebereiche:
INT APPL_RUN>0
Ausgang $OUT[APPL_RUN] wird verwendet. Er signalisiert daß das Anwenderprogramm läuft.
TRUE: in der Steuerung ist ein Bewegungsprogramm aktiv
FAlSE: in der Steuerung ist kein Bewegungsprogramm aktiv oder es wurde gestoppt
z.B. Fahrfreigabe von übergeordneter Steuerung auf FALSE gesetztINT APPL_RUN=0
Funktion deaktiviertINT APPL_RUN<0
Ausgang $OUT[APPL_RUN] wird verwendet. Er signalisiert daß das Anwenderprogramm gestartet wurde.
TRUE: in der Steuerung wurde ein Anwenderprogramm gestartet. Dabei bleibt dieser Ausgang auch dann auf TRUE wenn das Anwenderprogramm
gestoppt wurde (z.b. Fahrfreigabe von SPS auf FALSE gesetzt)
FALSE:in der Steuerung wurde kein Anwenderprogramm gestartet, oder es wurde bereits wieder beendet.http://www.roboterforum.de/roboter-forum/…xtern-appl-run/
The implications of Negative PGNO_REQ and Positive PGNO_REQ are different. But, I don't know the differences.
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Hi, everyone , I am a beginner of KRC4. In the P00 file, there are some codes as follow:
CodeIF (PGNO_REQ>0) THEN $OUT[PGNO_REQ]=FALSE ENDIF IF (PGNO_REQ<0) THEN $OUT[-PGNO_REQ]=TRUE ENDIF
PGNO_REQ is used to request the higher-level controller to send a program number to the robot. and the progress is achived by the $OUT[PGNO_REQ].
What puzzles me, the PGNO_REQ is Negative or Positive? What is the implications of Negative PGNO_REQ or Positive PGNO_REQ?
Thank you in advance.
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there are some outputs to be set to false in the cell.src of KRC 4. i have questions about these outputs($OUT[320]~$OUT[364]). which system variables do they represent. thank you in advance.
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P00 (#INIT_EXT,#PGNO_GET,DMY[],0 ) ; Initialize extern mode
;ENDFOLD (AUTOEXT INI)
FOR RST_INDEX=320 TO 364 STEP 1
$OUT[RST_INDEX]=FALSE
ENDFOR
WAIT SEC 0.5