KUKA robot analog input and output programming!

Programming the analog input

KR C4 has 32 analog inputs

· These analog signals need to be equipped with a bus system that can be provided as an option and must pass

·WorkVisual design

· The analog input is read out via the system variable $ANIN[1] ... $ANIN[32]

· (once every 12 ms) cyclically read an analog input

· The value of $ANIN[nr] varies between 1.0 and -1.0, representing an input voltage of +10V to -10V

Function: static assignment

Direct assignment

REAL value

Value = $ANIN[2]

Assigning a signal protocol

SIGNAL sensor $ANIN[6]

REAL value

Value = sensor

Dynamic assignment

• All variables used in the ANIN instruction must have been declared in the data list (partially or in $CONFIG.DAT).

• Up to three ANIN ON commands are allowed at the same time.

• Up to two ANIN ON instructions can use the same variable value or access the same analog input.

·syntax

Start loop reading:

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

Example 1:

Example 2:

Operation steps when programming with analog inputs:

Note: The prerequisite for using an analog signal is to design the correct bus system and its connected analog signals.

Programming ANIN ON /OFF

1. Select the correct analog input

2. Execution of signal protocols

3. Declare the necessary variables in the data list

4. Switch on: Programming the ANIN ON instruction

5. Check if up to 3 dynamic inputs are active

6. Shutdown: Programming the ANIN OFF instruction

Programming the analog output

KR C4 has 32 analog outputs

· These analog signals need to be equipped with a bus system that can be provided as an option and must pass

·WorkVisual design

· The analog output is read out by the system variable $ANOUT[1] ... $ANOUT[32]

• (once every 12 ms) cycle to write an analog output.

· The value of $ANOUT[nr] varies between 1.0 and -1.0, representing an output of +10V to -10V

Note: Up to 8 analog outputs (both static and dynamic) can be used simultaneously. ANOUT triggers a pre-stop.

Static assignment

·Direct assignment

ANOUT[2] = 0.7 ; add 7V to analog output 2

· Assignment by variable

REAL value

Value = -0.8

ANOUT[4] = value ; -8V is applied to analog output 4

·Programming with online forms

Dynamic assignment

· All variables used in ANOUT instructions must have been declared in the data list (local or

· In $CONFIG.DAT).

• Up to four ANOUT ON commands are allowed at the same time.

• ANOUT triggers a pre-stop.

·syntax

Start loop writing:

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

The procedure for programming with the analog output:

Note: The prerequisite for using an analog signal is to design the correct bus system and its connected analog signals.

Programming ANOUT ON /OFF

1. Select the correct analog output

2. Execution of signal protocols

3. Declare the necessary variables in the data list

4. Switch on: Programming the ANOUT ON instruction

5. Check if up to 4 dynamic outputs are active

6. Shutdown: Programming the ANOUT OFF instruction