External automatic (PLC start robot)

Recently, many friends are asking kuka How to use the robot's external Automation ,PLC How to start the robot , So I'm going to go over the external startup again , Don't bother those who will .

KUKA There is a fixed main program --CELL

If you want to use this program, you must follow kuka External brake actuation conditions for , And timing .

Let's talk about the external startup today .

What is an external boot

EXT: At the robot's 4 Operating modes EXT It is external automatic , When the robot hits EXT In mode , adopt PLC Communicate with robots , Conduct signal interaction and start the robot to execute commands . This is called an external boot .

Signal configuration

Signal configuration here we must know the concept of signal , Here are some of them .

Input end ：

name	The input values	explain
PGNO_TYPE	1 ： Binary system 2 ：BCD Horse 3 ：N choose 1	Program number type ,3 There are two ways to choose
REFLECT_PROG_NR	0 ： No mirroring 1 ： Mirror image	Whether the mirror program number is fed back to PlC
PGNO_LENGTH	1 to 16	This variable determines the bit width of the program number transmitted by the superior control system
PGNO_FBIT	Input terminal number	PGNO_FBIT = 5 The external program number is from the input $IN[5] Start
PGNO_PARITY	-101	Parity check , negative ： p. .0： Do not verify positive values ： accidentally .
PGNO_VALID	Input terminal number	The program number is valid
$EXT_START	Input terminal number	External start
$MOVE_ENABLE	Input terminal number	The upper controller allows the robot to run
$CONF_MESS	Input terminal number	The upper controller confirms the robot fault information

$DRIVES_OFF	Input terminal number	The drive is off if a continuous force of at least... Is applied to this input 20 Millisecond low pulse , Then the upper control system will turn off the robot drive .
$DRIVES_ON	Input terminal number	The drive is switched on if a continuous force of at least... Is applied to this input 20 Millisecond high pulse , Then the upper control system will switch on the robot driving device .
$I_O_ACT	Input terminal number	Activate the interface if the input is TRUE, Then the interface external automatic operation has been activated . default setting ：$IN[1025]

Output terminal ：

$RC_RDY1	Number of output terminal	Ready for program start .
$ALARM_STOP	Number of output terminal	A state of emergency =1
$USER_SAF	Number of output terminal	emergency door =1
$PERI_RDY	Number of output terminal	The drive is ready
$ROB_CAL	Number of output terminal	Zero point of robot axis =1
$I_O_ACTCONF	Number of output terminal
$STOPMESS	Number of output terminal	Robot stop message
PGNO_FBIT_REFL	Number of output terminal	The program number mirrors the first digit
$ALARM_STOP_INTERN	Number of output terminal	Internal emergency shutdown =1
$PRO_ACT	Number of output terminal	Program activation

PGNO_REQ	Number of output terminal	Program number request
APPL_RUN	Number of output terminal	The user program is running
$PRO_MOVE	Number of output terminal
$IN_HOME	Number of output terminal	The robot is home Location
$ON_PATH	Number of output terminal	The robot is on the track
$NEAR_POSRET	Number of output terminal
$ROB_STOPPED	Number of output terminal
$T1, $T2, $AUT,$EXT	Number of output terminal	Operation mode

Signal interaction

PLC If you want to start the robot , It requires some signal interaction with the robot .

It's like A ask B, are you ready ,B A good answer

So robots and PlC It's the same .

The following figure shows the sequence of external startup ：

The starting process is as follows ：

• KRC selected CELL Program
• PLC Send it to the robot MOVE_ENABLE The signal is true , Allow the robot to run , And the robot returns to in manual mode HOME spot , And send IN_HOME to PlC.
• KRC Close the safety door , Release emergency stop , And send USER_SAF,ALARM_STOP
• KRC Turn the robot mode to EXT
• PLC send out DRIVES_OFF It's true ,DRIVES_ON It's true 20ms, wait for
• KRC Robots, if any $STOPMESS It's true .
• PlC send out CONF_MESS, until STOPMESS For false
• PlC send out EXT_START, wait for PRO_ACT
• KRC send out PGNO_REQ,PlC Transfer the program number to the robot . Parity check （PGNO_PARITY It's not equal to 0 when ） Program number image （REFLECT_PROG_NR=1 when ）, Then the robot feeds back the program number to PlC Check .
• KRC wait for PGNO_VALID Hou Wei Zhen , The robot executes the user program . send out APPL_RUN It's true , And reset PGNO_REQ And stop program number mirroring

At this time, the robot has been successfully started

When the robot user program is completed, it returns to cell The program number request will be made again

Of course, there are many ways to start externally , What I write here is just one of them . And every company has its own startup criteria , therefore PlC It is usually written as a startup module , To facilitate the later programming

How about now you understand the external startup ？