If the KUKA robot process should be controlled from a central location (e.g. by a host computer or PLC), then this control takes place via the external automatic operation interface.
In order for smooth communication between KR C4 and PLC, the following points must be met:
External automatic operation mode: Select the control program of the robot program from the outside.
Signal exchange between PLC and KUKA Robot Control signals (input terminals) sent to KUKA Robot: start and stop signals, program number, fault confirmation
Selected A BCO run must be performed after the CELL procedure.
Operation steps for starting the external program of the KUKA robot
The input/output terminals for external automatic operation and the CELL.SRC program have been configured.
Set the program override to 100%. (The above are recommended settings. You can also set it as needed
HOV settings
Execute BCO operation: press and hold the confirmation switch. Then press and hold the start button until the information window "BC reached" is displayed
. Start the program at the upper-level control system (PLC).
When managing the program number transmitted by the PLC, the control program Cell.src is required. The program is always located in the folder "R1". Like any common program, the Cell program can be personalized, but the basic structure of the program must remain unchanged.
Interrogation via module "P00". Program number
Enter the selection cycle of determined program number