When programming the KUKA robot, the input and output signals that indicate the logic instructions are used.
(1) OUT - Closes the output in a certain direction in the program
(2) WAIT FOR - Waiting function related to the signal: the control system waits for the signal here:
Input IN
The output is OUT
Punctual signal TIMER
The storage address inside the control system is FLAG or CYCFLAG
(3) WAIT - time-related waiting function: the controller waits in this direction in the program according to the input time.
2. Waiting for functional programming
Computer Pre-Advancement:
The motion statement is pre-read in the computer pre-feed, so that the control system can design the trajectory when there is a trajectory imminent command. But it's not just the pre-feed motion data that is processed, but also the math and instructions that control the external equipment.
Computer pre-feeding
(1) Main operating pointer
(2) The command statement that triggers the pre-advance abort
(3) Possible pre-advance pointer orientation
Some orders will trigger a pre-advance abort. It contains commands that affect peripherals, such as the OUT command (gripper closed, welder blade opened). If the advance pointer is paused, the trajectory imminent cannot be performed.
Waiting for the function
The waiting function in the motion program can be easily programmed via an online table. In this case, waiting functions are distinguished into time-related waiting functions and signal-related waiting functions.
With WAIT, the robot's movement can be paused at a programmed time. WAIT is always triggered once in the abort.
Logical cohesion
Logical articulation is also used when using the waiting function associated with the signal. Logical connections allow you to combine queries for different signals or states: for example, you can define correlations, or sweep away specific states.
A function with a logical operator always results in a true value, i.e., it ends up giving "true" or "false" all the time.
The operators of the logical connection are:
(1) NOT - this operator is used to negate, even if the value is reversed (from "true" to "false");
(2) AND - When the two expressions of the concatenation are true, the result of the expression is true;
(3) OR - The result of the expression is true when at least one of the two expressions is true;
(4) EXOR - The result of the expression is true when the problem connected by this operator has different truth values.
Machining with and without pre-feeding:
The waiting function related to the signal can be programmed with or without pre-feeding. The absence of pre-advance indicates that the movement will stop at a certain point in any case.
Signal-related waiting functions with pre-programmed settings allow trajectories to occur at points created before the instruction line. However, the pre-entry pointer is not only in the current position, so it is not possible to clearly determine the exact moment of signal detection. In addition to this, signal changes cannot be identified after signal detection.
Procedure:
(1) Place the cursor on the line that should be inserted into the logic instruction after it;
(2) Select the menu sequence instruction > logic > WA
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