KUKA robot analog input and output programming!

Programming Analog Inputs

KR C4 offers 32 analog input channels, which are essential for capturing real-time sensor data. These inputs require a compatible bus system, which can be an optional add-on and must be properly configured to ensure accurate signal transmission.

WorkVisual is used for designing and setting up these analog input signals. The values of the analog inputs are accessed through system variables such as $ANIN[1] to $ANIN[32], which are updated every 12 milliseconds.

The value range for each $ANIN[nr] is from -1.0 to +1.0, corresponding to an input voltage range of -10V to +10V. This makes it easy to integrate with various sensors and control systems.

There are different methods to assign values to these inputs:

- Static assignment: Directly assign a value to a variable using $ANIN[2].

- Signal protocol assignment: Define a signal name and use it in your program, e.g., SIGNAL sensor $ANIN[6].

- Dynamic assignment: Use the ANIN ON command to process analog signals in real time. Ensure that all variables are declared in the data list (either locally or in $CONFIG.DAT).

Key rules for dynamic assignments include:

- Up to three ANIN ON commands can run simultaneously.

- Multiple ANIN ON instructions can reference the same variable or analog input, but careful management is required to avoid conflicts.

The syntax for dynamic analog input processing is:

ANIN ON value = coefficient * signal name <± offset>

Example 1: Assigning a scaled value from an analog input.

Example 2: Using offset and scaling for precise control.

To program with analog inputs, follow these steps:

1. Select the appropriate analog input channel.

2. Configure the signal protocol in WorkVisual.

3. Declare necessary variables in the data list.

4. Enable the ANIN ON instruction to start reading.

5. Monitor that no more than three dynamic inputs are active at once.

6. Disable the ANIN ON instruction when no longer needed.

Programming Analog Outputs

KR C4 also includes 32 analog output channels, allowing you to send controlled signals to external devices. Like the inputs, these outputs require a compatible bus system and proper configuration.

Analog outputs are accessed via system variables $ANOUT[1] to $ANOUT[32], which update every 12 milliseconds. The value range is again from -1.0 to +1.0, representing -10V to +10V output levels.

Note: A maximum of 8 analog outputs can be active at the same time. Also, ANOUT triggers a pre-stop condition, so use it carefully during motion sequences.

Static assignments allow direct value setting:

- Direct assignment: ANOUT[2] = 0.7 ; sets 7V on output 2.

- Variable assignment: Assign a variable and then set the output accordingly.

Dynamic assignments involve the ANOUT ON command, which allows real-time adjustments:

- All variables used in ANOUT instructions must be declared in the data list (local or in $CONFIG.DAT).

- Up to four ANOUT ON commands can be active at the same time.

- ANOUT will trigger a pre-stop, so plan accordingly.

The syntax for dynamic analog output is:

ANOUT ON Signal Name = Coefficient * Adjustment Item <± Offset>

Steps for programming analog outputs:

1. Choose the correct analog output channel.

2. Set up the signal protocol in WorkVisual.

3. Declare all required variables in the data list.

4. Activate the ANOUT ON instruction to start sending values.

5. Ensure that no more than four dynamic outputs are active at once.

6. Deactivate the ANOUT ON instruction when no longer needed.