KUKA robot analog input and output programming!

Programming Analog Inputs

KR C4 provides 32 analog input channels, which are essential for integrating real-time sensor data into robotic systems. These inputs must be connected via a compatible bus system, which can be an optional component. The configuration is typically handled through WorkVisual, the programming environment for KUKA robots.

Each analog input is accessed using system variables such as $ANIN[1] to $ANIN[32]. These values are updated every 12 milliseconds and represent voltages ranging from +10V to -10V, corresponding to a range of -1.0 to +1.0 in the system.

There are several methods for assigning these analog inputs:

• Static Assignment: Directly assign a value from the system variable to a user-defined variable.
• Signal Protocol Assignment: Link a signal to an analog input for more structured control.
• Dynamic Assignment: Use the ANIN ON instruction with coefficients and offsets for flexible scaling and adjustment.

When using dynamic assignments, it's important to declare all relevant variables in the data list or in $CONFIG.DAT. Up to three ANIN ON commands can run simultaneously, but no more than two can use the same variable or input at the same time.

The syntax for dynamic assignment looks like this:

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

Examples help clarify how these assignments work in practice. They show how to scale and shift the input values to match specific application needs.

To program with analog inputs, follow these steps:

1. Select the appropriate analog input channel.
2. Define the signal protocol in WorkVisual.
3. Declare necessary variables in the data list.
4. Use the ANIN ON instruction to activate the input.
5. Ensure that no more than three dynamic inputs are active at once.
6. Turn off the input using the ANIN OFF instruction when no longer needed.

Similarly, KR C4 supports 32 analog outputs, which are used to send signals to external devices. These outputs also require a bus system and must be configured in WorkVisual. The system variable $ANOUT[1] to $ANOUT[32] is used to access them, with values ranging from -1.0 to +1.0, equivalent to -10V to +10V.

For static assignments, you can directly set the output value, or use a variable for flexibility. Dynamic assignments allow for more complex control using the ANOUT ON instruction, which includes coefficients, offsets, and limits for precise control.

Key points for analog output programming include:

• Up to four ANOUT ON commands can run simultaneously.
• ANOUT operations may trigger a pre-stop, so careful planning is required.
• All variables must be declared in the data list or $CONFIG.DAT.

The process for programming analog outputs is similar to that of inputs, with the following steps:

1. Select the correct analog output.
2. Set up the signal protocol in WorkVisual.
3. Declare required variables in the data list.
4. Program the ANOUT ON instruction to start the output.
5. Check that no more than four dynamic outputs are active.
6. Use the ANOUT OFF instruction to stop the output when necessary.

Proper setup of the bus system and signal protocols is crucial for both analog inputs and outputs. Without this foundation, the robot will not be able to communicate effectively with external sensors or actuators.

Whether you're working with inputs or outputs, understanding how to configure and use these features is essential for building robust robotic applications. With proper setup and programming, analog signals can significantly enhance the functionality and precision of your KUKA system.