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IO Outputs not activated when running robot with RoboDK
#1
Hi Jeremy,

I am currently connecting RoboDk to my KUKA KRC-2 and running the robot directly from my laptop using RoboDK, but I am switching on the coolant and blade motor manually from an external switch because I haven't figured out yet how to do it from RoboDK.

My programs are created by DXF2Gcode and M-Runcode program calls are created automatically in the programs.

The only problem is that the outputs on the KUKA are not activated when running the program on the robot by RoboDK. I have 3 outputs created on the Kuka controller which are named as follows:

Output 1 - Waterjet
Output 2 - Blade
Output 3 - Coolant 

When I generate an src program from RoboDK and copy it to the Kuka controller and then run it from the Kuka controller all the outputs are activated correctly. This is because I've created a M_RunCode() program (as per attachment) in the Kuka controller which controls the outputs. Currently, I am only controlling the Blade output and the Coolant output in this M-RunCode program. 

My first issue when running from RoboDK is that the M-Runcode(3) is created automatically but there is no M-Runcode program created in RoboDK and thus no output activated.  Please explain where and how to set up RoboDk so that the outputs are activated when running the robot. 

My second issue is that RoboDK only creates M-RunCode(3) and does not consider which tool is active. I would expect a different M_RunCode number to be created for a different tool? It creates the same M-RunCode(3) program call for switching on both the Waterjet tool and the Blade Tool. I would assume that instead of calling a M-RunCode, Code can be entered under Program Events with an IF function which activates Output 1 IF Waterjet tool is selected, Output 2 if  Blade tool is selected. Please can you suggest teh simplest way to get around this issue


Please can you also send a link where to find the meaning of and differences between the following functions under program events as I could not find much in the RoboDK guide about this under program events.
1.   Set Digital Output On
2.   Set Digital Output Off
3.   Set Digital Output On (sync)
4.   Set Digital Output Off (sync)


Curt
  




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