How can I put System_timer.RUN_TOT into GO? In terms of syntax.
Should be something like this:
1: GO[1] = $SYSTEM_TIME[1].$SYSTEM_TIMER.$RUN_TOT ;
Already tried a million of versions, can't found the correct one.
Posts by Ortaz
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Thanks for the quick response!
I understood the reason of your advices!
Will check in hour -
Hello!
I read topic "Cancel motion using interrupt" on this forum, i need to use Resume and interrupt instructions for the same purpose (stopping current LIN motion and go to the next command by signal). But code example, which i found in this topic, even after i correct all syntax mistakes, doesn't work. I got error: "Unacceptable program structure for RESUME" (It's mine translation from russian, mb originally it calls differently). What did I do wrong?
I wrote about RESUME in some KUKA's manuals, but can't find correctly working example.
Code
Display More&ACCESS RVP &REL 100 &PARAM EDITMASK = * &PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe DEF teststop( ) ;FOLD INI;%{PE} ;FOLD BASISTECH INI GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( ) INTERRUPT ON 3 BAS (#INITMOV,0 ) ;ENDFOLD (BASISTECH INI) ;FOLD USER INI ;Make your modifications here ;ENDFOLD (USER INI) ;ENDFOLD (INI) $pal_mode=true PTP XHOME prob() END DEF prob() LIN XP14 INTERRUPT DECL 1 WHEN $IN[1]==true DO search() motion() LIN XP16 END DEF motion() INTERRUPT ON 1 LIN XP13 INTERRUPT OFF 1 END DEF search() BRAKE RESUME END
Thank you in advance.
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1. Don't think that we will use any of cwrite's supported channels.
2. Hermann, yeah, I meant power down (situations like loss of electricity at the factory). Hibernate start solve both first and second problems, as I think. Cause we can choose general program + ext mode once, and any restarts will not reset it + it saves the number of current instruction.
3. Manually found that 'drivers on' works not only as positive edge signal, but positive edge signal + stable positive signal on "drivers off" input. And "drivers off" works as negative edge signal, that's how it's going. -
0. Oh, sorry then. Thank you.
1. Mb I dont understand something, but Cwrite is an instruction, right? To run it you must go to smartpad and start smthg with this instruction?) And also there is smth about serial interface which I don't use.
I need to select the program, and go to exp mode only with signals from PLC. To exclude from this process guy with key who choose program in T1/T2 mode, turn key and choose exp mode. I thought, it might be smth like "default pre-settings". I will look at cwrite manual again if you sure, that the answer i need is there.2. We tested this yesterday, with emergency stop robot saves chosen mod and program. After reload we can run it by input signals, but only from the start of the program. Not from the point where he was before he stoped.
I'm doing palletize program, and if there was an emergency failure at the factory, there will be good if robot after restart will continue palletezing. But now people will be forced to remove the pallet with what lies on it. There is the way like "with GOTO instructions we can save current number of instruction on local disk after every instruction and download it at the start of cell.src, and create goto marks for every line of code, but this way is disaster
UP. Oh, I found that in Hibernate start type should be ok. Will test it later3. And also somehow "Drivers on" signal doesn't work, it's my new question. Drivers off works correctly. I checked inputs in WorkVisual, all shoud be ok, but no.
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0. I have read READ FIRST before writing the theme, in my view I did not violate any of your "rules". So dont understand why you are talking about it.
1. Read it too. It doesn't help on my question.
2. Answer "yes" doesn't help to do it too.If you don't want to talking as normal people, I do not make you answer me. Let it to someone else.
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Hello guys!
I'm not an expert of Kuka robots, but have to try to create system with it without any training, only by reading manuals and etc.
For now I have two questions:As I understood, to run robot in auto mode I have to choose my program manually (like cell.src), then rotate the key and choose exp mode. And then with signals from PLC i can message robot to run my instractions, right?
1. How to set up robot to automatically choose program like cell.src at startup and go to exp mode? I need to drop any stage of using smart-pad finally.
2. Also in situations like emergency shutdown robot must memorize current code position (instruction), and be possible to automatically start from it after startup by only PLC call again. Is there any mechanisms for it?I think, both of my questions should be clear and reasonable for any system, but I can't find the answer yet.
KR 16-2, KRC 4
Thank you in advance.