Hi!
I'm new here. I would need to help with the interface between the S7 300 PLC (CPU317 2PN / DP) and the KUKA robot KRC4. It regards external automatic. (Like Start program, Stop, Enable servo motors, etc.)
It would help me greatly if you already have someone like something created.
I will be grateful for any advice.
Thanks!
Kuka KRC4
-
unlock
- Posts: 1
- Joined: Mon Mar 07, 2011 8:31 pm
Re: Kuka KRC4
For automatic external you need configure some signals in kuka .
Setting $MOVE_ENABLE to true (by PLC), $DRIVES_OFF to true (inverted, can be left always high or mapped to input 1025). then using PLC check if robot drives are powered up ($PERY_RDY), if/while not issue pulse(s) on $DRIVES_ON.
when you have $PERY_RDY, check if there are faults ($STOPMESS) and if/while present, issue pulse(s) to clear them ($CONF_MESS).
if all above is done and mode is EXT (also checked by PLC), issue $EXT_START pulse to start CELL.SRC (confirmed by $PRO_ACT).
after that robot will ask for program number (PGNO_REQ). this is time to send program number and after small delay, issue pulse PGNO_VALID. when robot receives valid number, PGNO_REQ goes off. while your program(s) are running (called by CELL.SRC) you will see APPL_RUN flag on.
that's about as detailed as it gets....
Setting $MOVE_ENABLE to true (by PLC), $DRIVES_OFF to true (inverted, can be left always high or mapped to input 1025). then using PLC check if robot drives are powered up ($PERY_RDY), if/while not issue pulse(s) on $DRIVES_ON.
when you have $PERY_RDY, check if there are faults ($STOPMESS) and if/while present, issue pulse(s) to clear them ($CONF_MESS).
if all above is done and mode is EXT (also checked by PLC), issue $EXT_START pulse to start CELL.SRC (confirmed by $PRO_ACT).
after that robot will ask for program number (PGNO_REQ). this is time to send program number and after small delay, issue pulse PGNO_VALID. when robot receives valid number, PGNO_REQ goes off. while your program(s) are running (called by CELL.SRC) you will see APPL_RUN flag on.
that's about as detailed as it gets....
-
JanRigo
- Posts: 24
- Joined: Thu Sep 23, 2010 9:24 am
- Location: SK
Re: Kuka KRC4
http://uloz.to/xkQm8xQS/kss-82-si-en-pdfMiro3 wrote:Hi!
I'm new here. I would need to help with the interface between the S7 300 PLC (CPU317 2PN / DP) and the KUKA robot KRC4. It regards external automatic. (Like Start program, Stop, Enable servo motors, etc.)
It would help me greatly if you already have someone like something created.
I will be grateful for any advice.
Thanks!
Page 147