how to send the integer from plc to robot
What are setting should be done in robot side?
my profinet RANGE IS FROM $705 TO $867
INTEGER IS 2 BYTE
Should i set it anolog input? or...?
how to send the integer from plc to robot
What are setting should be done in robot side?
my profinet RANGE IS FROM $705 TO $867
INTEGER IS 2 BYTE
Should i set it anolog input? or...?
Thanks for your reply. Can you please detail your statement because i cant't get your point.
How to get a data type of REAL from PLC to robot? using profinet
What i have did is.
In $config.dat
Real Orange
In SRC.DAT
x=Orange
I want to get the real value(678.34) from PLC to robot.
Thank you for your time.
Hi,
I am doing a sealing application. In my place we have developed the application, Since we had a difference in the production line. We have made a new base calibration, But we have difference of 5mm to 7mm difference. I have used the same tool and templates for calibration. I did 3point method.
What could be the cause for base difference???
If i am switching on Both the interrupts together. How about brake and resume. I am having brake and resume in both interrupts. if suppose second interrupt is triggered first then the first interrupt will not work.
Thank you skyfire, I have made a rough diagram in word doc. The two points are marked, I have attached with this reply. Kindly help.
Hi thanks for your reply. I am using kuka inline form. Can you please tell me where is C_VEL instead of giving C_DIS. Should i have to change in dat file or ?????
I wanna give a output to the plc during the motion but motion must not be disturbed. In this case which is better trigger path or sync out what is the difference between the two?
Eg
LIN f10_P230 CONT Vel=0.3 m/s cpdat856
wait sec 0
SYN OUT 49 '' State=TRUE at START Delay=1 ms
LIN f10_P240 CONT Vel=0.3 m/s cpdat857
i too had the same problem.
i hope it is a kuka safe robot. if its so goto setup, safe operation, configration. check there. the t1 velocity
if you find everything is ok. then
try one time with safe operation abled=false , and cold start it. if the msg is gone then it should be a version prob.
hi
I am picking up the two edge position with 2 light sensor. both the edges are in same line.
The problem:
for picking up the two points I am writing in two search moves. Is it possible to make it one search move?????? i have wrote the code below. Thank you.
INTERRUPT DECL 31 WHEN $IN[14]==false DO firstpoint ()
INTERRUPT DECL 32 WHEN $IN[15]==false DO secondpoint ()
interrupt on 31
searchmovey1()
$advance=3
interrupt off 31
interrupt on 32
searchmovey2()
$advance=3
interrupt off 32
searchmovey1()
LIN P50
LIN P60
$advance=0
End
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
searchmovey2()
LIN P70
LIN P80
$advance=0
End
def firstpoint()
interrupt off 31
brake
DUMMY1=$POS_INT
WAIT SEC 0
RESUME
end
def secondpoint()
interrupt off 32
brake
WAIT SEC 0
DUMMY2=$POS_INT
resume
end
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i am using KSS v5.6. it is a rectangle so all 4 corners are 90degree with smooth curve.
is that should have to reduce the approximation or increase the approximation? or is there any other variable to maintain the velocity?
Hi,
I am doing a adhesive process, In applying it in a rectangle shape. I want to maintain 0.3m/s through out the process. but unfortunately in all the four curves and in the short sides of the rectangles the speed is dropping. I have maintain 0.3m/s throughout out the process.
I have used
LIN P30 CONT vel 0.3m/s...
LIN P40 CONT vel 0.3m/s...
CIR P50 P60 CONT vel 0.3m/s ....
...
....
...
Do you have any idea how to solve this problem? Thank you
Hi,
I have programmed normal kuka robot but this is my first project in VW KUKA. When I saw in the progam they are using macros. Do anyone have have Robot programming standard for VW or audi . or can anyone give a brief description the difference between the normal kuka programming and VW robot programming. Thank you
Configure in the config.dat in the userfold section,
SIGNAL myoutput $OUT[73] to $OUT[88]
In the submit / also in userfold
Myoutput = $VEL_ACT* 1000
Then I am sending to PLC and reading it as word and now I am getting it as mm/S
The profinet problem is solved. We made two changes.
1) updated the CP to V2.5 in Siemens hardware config.
2) We gave INB88=3,XX20 here 3 is the device number but this format will work only if the robot is slave to a PLC.
Since the robot is the master and beckhoff plc is the slave.
The correct format is
INB88=512,XX20
We should write the start address in the device number area. . If the robot is the master. Now, we got it. Thank you.
Hi,
I am communicating the the robot speed to PLC with profibus, So I used
ANOUT1=127,8,16,0,CAL0x6C00 (can you please explain the scaling system here)
When I am running in T1 mode and in 100%. When I the checking the Monitor-Variable-Single- $VEL_ACT it is saying 0.009534931 (what value is this)?
I like to send the current robot speed to PLC as mm/S. How to do it???????????????????????
Please help
yes activated
I have no error message in robot.
But when am setting my output my sps programmer he can't find the input for him.
My robot is master and beckhoff is slave
so i did
emablecontroller as 1
enabledevice as 0
in pniodrv file
is the master slave config is correct?
Can you tell me what is that and how to check? i am new to this.
Cool answer, Skyfire
So for example:
if my PLC address starts at 512 to end address 531 byte
and
in my iosys under pnet i am giving INB88=3,XX20
512.0=$IN[705]
512.1=$IN[706]
512.2=$IN[707]
...
...
531.8=$IN[857]
Have i understood u correctly?
Problem:
I am unable to send the input and output signals to my PLC. My robot is master and plc is slave.
How i did:
In pniodrv file I made enable controller as 1
and in iosys file under profinet i gave INB88=3,XX20 and OUTB=3,XX20 (is this correct? inPLC i gave 512 to 533)
In step 7 HW config:
I used CP1616 V2.3 and the IO module starting byte is 512 to endbyte 533
BUT in manual it says I should use CP1616 V2.5. Is the problem for no IO communication is because of this. If yes, should I have to update the profinet version.
My current robot version:
KSS: V5.6.12
Profinet CP1616 driver V2.3
In my point of view:
The problem could be with
1) version problem or
2) Did I made the setting correct or
3) wrong IO address setting in iosys PNET
Can you please help me