Can i Rename for Exemple:
DECL GLOBAL INT PARAM[7]
NAME1[1]=0
NAME2[2]=0
NAME3[3]=0
NAME4[4]=0
NAME5[5]=0
NAME6[6]=0
NAME7[7]=0
Is this possible, or do I have to declare all the variable in this case?
For now i waiting for robot, so i can not tested at this moment,...
aha,... ok. 
Thank you 
And how this Expert module running on the robot in the background to check every cycle?
panic mode Thank you!
The first part of code i will put in SPS, because the parameters can change anytime.
The second part i will put in config...
Or is it better to create one program and this program calling in SPS? Is in this case some difference?
Hello,
I have KUKA KRC4
communicate vith PLC is Profinet
KSS 8.5
More than 50 Input parameters value are transmitted from the PLC to the Robot
Intiger value:
SIGNAL I_NAME_X $IN[321] TO $IN[336]
How can I accept all these 50 parameters with just two?
Idea is, but i dont know hot to realize on KUKA Robot:
Parameters:
INPUT
OUTPUT
I would do one subprogram running on the robot in the background (in SPS) and storing values in registers. The logic would be something like this:
If ID_In <> ID_Out
If ID_In = 1
Reg1 = Value
Els If ID_In = 2
Reg2 = Value
…..
Endif
ID_Out = ID_In
endif
From PLC will send Parameter 1 and the Value. The robot would read it and write it to the register, then it would send back conformation to the PLC OUTPUT ID_Out I read parameter 1.
When the PLC received information from the robot that I wrote parameter 1 on the robot, the PLC would send a value to the Robot for parameter 2, and so on ... This would reduce network traffic and consequently cycle time...
Fanuc have Registers, but how is solution on KUKA robot? Is solution rewrite this parameter into a variables and these variables used instead of these 50's Inputs?
I will be very grateful for the answer or the advice!
Please for help 
Please for answer:
For testing now I want to 5 axes keeps your weight grips, but when there is an external force such as 1000 N I want to be released and then go back to position wen I don’t have force anymore. How can I do this? I do not need Interrupt ...
$TORQUE_AXIS_ACT[5] in point when i testing with out force is about 550 Nm
REAL $TORQUE_AXIS_MAX_0[5]: maximal motor torque at speed 0 is 3065Nm
REAL $TORQUE_AXIS_MAX[5]: maximal motor torque is 9081Nm
upper=$Holding_torque [5] +10Nm 5 axis jump it self up, and if there is no minimum opposing forces an error “Torque mode velocity Limit Exceeded A5”, if i have minimum opposing forces then stoped
lower=$Holding_torque [5] -10 Nm nothing happend
upper=$Holding_torque [5]+100Nm
lower=$Holding_torque [5] -100 Nm is the same like -10Nm and +10Nm
upper=$Holding_torque [5]+200Nm
lower=$Holding_torque [5] -200 Nm is the same like -10Nm and +10Nm
upper=$Holding_torque [5]+500Nm
lower=$Holding_torque [5] -500 Nm is the same like -10Nm and +10Nm
upper=$Holding_torque [5]+1000 Nm if i set upper limits from +1000 Nm to 1400 Nm i can lift axsis 5 with hands, but dont go axis alone UP and i can lift axis 5 down but YUST TO THE POINT WERE WE STAY
lower=$Holding_torque [5] -10 Nm if i set lower limits dont happent enything (any number of change there is no difference)
upper=$Holding_torque [5]+1500 Nm if i set upper limits 1500 Nm i cant lift axis 5 UP but harder (i need more force) and with his weight dropped back down to the point - this exemple i need, but in another direction
lower=$Holding_torque [5] -1500 Nm if i set upper limits 1500 Nm dont happent enything (any number of change there is no difference) even I canot lift axis 5
upper=$Holding_torque [5]+1700 Nm if i set upper limits more like 1700 Nm dont happent enything (any number of change there is no difference) even I canot lift axis 5
lower=$Holding_torque [5] -1700 Nm if i set upper limits more like 1700 Nm dont happent enything (any number of change there is no difference) even I canot lift axis 5
upper=$Holding_torque [5]+2500 Nm i canot move UP and i canot move DOWN
lower=$Holding_torque [5] -2500 Nm i canot move UP and i canot move DOWN
…
Higher limits are the same like +-2500 Nm
$Holding_torque_mand [5] – if I have on TRUE or on FALSE is not different
Please for help!
Hello. I need a little help, please
On robot KRC4 in whant set Axe 5 to Soft Servo. When i set the UPPER and LOWER Limits like is down, i can to raise axis 5 with hand easely. This is when i set UPPER Limits, but i whant if i have external force on Axe 5 to negative way. How can i set this limits? I've tried a lot of variants from 0 to 2000
My part of program for soft servo is like thise:
DEF TORQUE_MODE1( )
DECL TorqLimitParam myLimits1
DECL TorqLimitParam myLimits5
DECL TorqLimitParam myLimits6
PTP 1
;axe 5
myLimits5.MONITOR=#OFF
myLimits5.MAX_LAG=250
myLimits5.LOWER=$HOLDING_TORQUE[5] -1000
myLimits5.UPPER=$HOLDING_TORQUE[5] +500 How can i set this UPPER limit if i whant with external force release from UP to DOWN (I wish that the axis is moving slowly down with external axe)?
SET_TORQUE_LIMITS(1, myLimits1)
SET_TORQUE_LIMITS(5, myLimits5)
SET_TORQUE_LIMITS(6, myLimits6)
PTP 2
;WAIT Time=10 sec
PTP $AXIS_ACT
RESET_TORQUE_LIMITS(5)
On KRC4 you could use $HOLDING_TORQUE[1-12]. This tells you how much torque is needed to hold the robot in its current position.
And what mean 1 and what mean 12? Number of axis or something else?
Thank you SkyeFire for your reply 
and how to know where the limit robot that still holds himself (for example 50Nm or 10000Nm)?
It's probably best to start test a 1 axis and then go to 4,5 ad 6 axses, right?
Hello guys,
It's nice to be asked if anyone can explain me, how I set upper and lower torque limits? What information I need (except the weight of the gripper) and where can I find it? what is set to limit the axes 1,2,3,4,5, and 6? It is different or the same?
Robot is KUKA KRC4 360 Fundry.
Hoping for your reply thank you.
Thanks ALLOT it helps thanks!!!
Or would you prefer to ask:
myLimits.lower = $ holding_torque [5] -20
myLimits.upper = $ holding_torque [5] +20
myLimits.lower = $ holding_torque [6] -8000
myLimits.upper = $ holding_torque [6] +8000
this is more soft power - 20 + 20 servo -8000 +8000 (need more force like -20 +20)?
How is force distributed in 5 and 4 axis?
Tnx,
so if i have on robot load 360 kg, weight of gripper is about 200kg, how much is lower and uper limit? Or do I have to take into account what information?
Hello,
The first Fluke thanks for the information. I did not know that this is called "soft servo".
I have read all of this posts:
http://www.robot-forum.com/rob…ttings/msg57174/#msg57174
http://www.robot-forum.com/rob…a-robot-forum/soft-serov/
and is very nicely explained. But I still do not understand at all:
$TORQUE_AXIS = ‘B000001‘ - This is for 1 axse;.. B001000.. for axe 4; B100000.. for 6 axse... Is this ok?
Can i turn ON axis 4, 5 and 6 soft servo in this one sentence B111000 or activation is required separately?
$CURR_RED[1,1] = 0 ;positive torque limit set to 0
$CURR_RED[1,2] = 0 ;negative torque limit set to 0
PTP {A1 90} ;motion to release brakes - A1 - means axe 1, and what means 90?
WAIT FOR $IN[17] ;wait for signal to cancel torque mode
;(e.g. ejector)
$TORQUE_AXIS = 0 ;set axis “hard” again
PTP {A1 -20} ;move to next position
And for KUKA KRC4 i saw this post:
http://www.robot-forum.com/rob…n-krc4/msg38077/#msg38077
http://www.robot-forum.com/rob…-14321/msg59530/#msg59530
What is the difference between:
myLimits.monitor=#off
myLimits.lower=$holding_torque[5] -20
myLimits.upper=$holding_torque[5] +20
AND
myLimits.monitor=#off
myLimits.lower=$holding_torque[6] -8000
myLimits.upper=$holding_torque[6] +8000
How do I know how much is the lower and how much is the upper limits?
This Torque mode be written as a subroutine that is called in the main program? Am I right?
Please for your reply
Thank you very much. We'll see what I can do...
Fluke, how do you mean "soft servo"?
The robot is manupolation who work in the metal industry where working leaf springs for trucks.
And because a result of shock presses the robot can detect signals collision would be such an option. Due to the cycle time while a robot may not leaf springs to postpone and move on because this wasted time.
Is it possible software solution?
Hello 
,
i have a question for KUKA KRC4 and KUKA KRC2:
I whont release 5 and 6 axse when robot bring leaf spring in Press. When the robot is waiting to press do their work, should the robot to release for exam. 5 and 6 axis.
Has anybody any solution?
I ask also for KUKA KRC 2 as well as KUKA KRC 4 if the same process?
Please for help!
