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Pause Robot in PLC Simulation Mode

Creator
Creator

Hi,

 

In CEE mode you can pause and resume a robot motion using the standard robot signal _robotPause. How do you pause a robot path\program when running in PLC simulation mode as this signal does not seem to work.

4 REPLIES

Re: Pause Robot in PLC Simulation Mode

Siemens Genius Siemens Genius
Siemens Genius

Hi,

 

AFAIK, there should not be any difference between running with PLC simulation (OPC DA/UA/PlcSim/PlcSim Adv.) and running in CEE mode with respect to the program pause signal.

Is your program pause signal connected to an LB or to the PLC ? it should be connected to something for the simulation to evaluate it.

 

Kind regards,

Zachi

Re: Pause Robot in PLC Simulation Mode

Creator
Creator

Hi. The problem I had was that I was starting the CELL program using CELL_start which meant the programPause does not work. Also I was missing the hotfixes to v13.0.2 which fixes a few robot IO issues. I have now started it with startProgram so it now pauses when using programPause.

 

The problem I now have is how do I reset the robot program back to the start of the program without resetting the whole  simulation? I have tried the emergencyStop signal which does cause the next start pulse to start in CELL, but I find that in the sequence editor it still shows the green running triangle against other routines it was in before I did the stop. If i then start it and then stop if after I have then gone through these routines that the whole simulation stops and I cannot recover without shutting down PS

 

Re: Pause Robot in PLC Simulation Mode

Creator
Creator
Update. I have found that if the KUKA robot is on a WAIT signal command, activating the emergencyStop signal for the robot causes the above error and freezes the simulation timer, which cannot be restarted

Re: Pause Robot in PLC Simulation Mode

Siemens Genius Siemens Genius
Siemens Genius

Which Tx version do you use?

I believe such an issue was fixed in 13.1.

Contact GTAC if you require the fix in an older version.

 

Regards,

Zachi