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7/23/2019 Softplc Multiprog 11 En

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KUKA.PLC Multiprog 1.1 10.05.01 en 1 of 99

ROBOT

KR C ...

KUKA.PLC Multiprog

Release 1.1

Issued: 16 Mar 2006 Version: 01


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2 of 99 KUKA.PLC Multiprog 1.1 10.05.01 en

eCopyright 2005

KUKA Roboter GmbHZugspitzstrasse 140D--86165 Augsburg

This documentation or excerptstherefrommay notbe reproduced or disclosed to third partieswithout theexpress permissionof thepublishers.Other functions not described in this documentation may be operable in the controller. The user has no claim to these functions, however, inthe case of a replacement or service work.We have checked the content of this documentation for conformity with the hardware and software described. Nevertheless, discrepanciescannot be precluded, for which reason we are not able to guarantee total conformity. The information in this documentation is checked on aregular basis, however, and necessary corrections will be incorporated in subsequent editions.Subject to technical alterations without an effect on the function.


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Contents

1 Introduction 6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1 Target group 6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2 Safety 6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3 Overview of the document 7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.4 Trademarks 7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2 KUKA.PLC Multiprog 8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3 Installation 10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1 Preconditions for installation 10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 Installing KUKA.PLC Multiprog 10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3.2.1 Installing on non--KR C controllers under Windows 98, ME, 2000 and XP 11. . . . . . . . . . . . . .

3.2.2 Installing on a KR C controller or Office Lite 12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4 Configuration 14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.1 Configuring a task priority in ProConOS 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2 Configuring allotment of CPU computing time to tasks 16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3 Configuring the robot controller 17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4 Configuring ProConOS 17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5 Configuring the ProConOS / robot controller interface 18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5.1 Configuring peripheral I/Os 18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.5.2 Configuring communication I/Os 19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.5.3 I/O configuration 20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.6 Configuring the ProConOS/MULTIPROG interface 22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.7 Creating a ProConOS file directory 23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5 Scheduler 24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6 Controlling ProConOS by means of KRL 26. . . . . . . . . . . . . . . . . . . . . . . . . .

6.1 IOCTL function: Start, stop and call up status of ProConOS 26. . . . . . . . . . . . . . . . . . . . . . . . .

7 Configurable ProConOS parameters 28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1 DEBUG parameter 28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2 RESET parameter 28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.3 RELOAD parameter 28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.4 PRIOVISOR parameter 29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.5 PRIOUSER parameter 29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.6 PRIOSYSTEM parameter 29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.7 PRIOINTERNAL parameter 30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


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7.8 MINCAPACITY parameter 30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.9 MAXCAPACITY parameter 30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.10 DELRETAIN parameter 31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.11 DELRETAINFILE parameter 31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.12 AUTOARCHIVERETAIN parameter 31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.13 RETAINSIZE parameter 32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.14 RESTOREOUTPUTS parameter 32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.15 ROOTPATH parameter 32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.16 BINPATH parameter 32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.17 LIBPATH parameter 33. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.18 LIBRARIES parameter 33. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.19 CPUASSIGNMENT parameter 34. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.20 SERIAL parameter 35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.21 COM parameter 35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.22 BAUDRATE parameter 36. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.23 SIGNALFILES parameter 36. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.24 SIGNALFILEREAD parameter 36. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8 Libraries 38. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.1 ExtensionLib library 38. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.1.1 SaveRetain function: save remanent data by program 38. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8.1.2 PlcSleep function: provide CPU computing time 39. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.1.3 File services 40. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8.1.3.1 FileOpen function: opening a file 41. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8.1.3.2 FileClose function: closing a file 42. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.1.3.3 FileWrite function: writing data 43. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8.1.3.4 FileRead function: reading data 44. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.1.3.5 FileSeek function: changing the file position 45. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8.1.3.6 FileGetInfo function: file information 46. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8.1.3.7 FileDelete function: deleting a file 47. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.1.3.8 Example 48. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8.1.4 Accessing KR C signals 49. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.1.4.1 KrcSignalRead 49. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.1.4.2 KrcSignalWrite 50. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.2 KrcLib library 51. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.2.1 ReadAxisAct function: reading $AXIS_ACT 51. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8.2.2 ReadAxisActEx function: reading $AXIS_ACT 53. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8.2.3 ReadBaseAct function: reading $ACT_BASE 55. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.2.4 ReadOvPro function: reading $OV_PRO: 56. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8.2.5 WriteOvPro function: writing $OV_PRO 56. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.2.6 ReadPosAct function: reading $POS_ACT 57. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.2.7 ReadSenInt function: reading $SEN_PINT[ ] 58. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8.2.8 WriteSenInt function: writing $SEN_PINT[ ] 58. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8.2.9 ReadSenReal function: reading $SEN_PREA[ ] 59. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8.2.10 WriteSenReal function: writing $SEN_PREA[ ] 59. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


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8.2.11 ReadToolAct function: reading $ACT_TOOL 60. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8.2.12 ReadModeOp function: reading $MODE_OP 60. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.2.13 ReadProState function: Reading $PRO_STATE 61. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8.2.14 DisplayKCPNotifyMsg function: displaying acknowledgement messages 61. . . . . . . . . . . . . . .8.2.15 DisplayKCPStatusMsg function: displaying status messages 62. . . . . . . . . . . . . . . . . . . . . . . . .

8.2.16 ClearKCPStatusMsg function: clearing status messages 62. . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.2.17 ClearAllKCPStatusMsg function: clearing all status messages 63. . . . . . . . . . . . . . . . . . . . . . . .

8.3 KrcExVarLib library 64. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.3.1 ReadPLCBool, ReadPLCInt, ReadPLCReal functions: reading a single value 65. . . . . . . . . .8.3.2 WritePLCBool, WritePCLInt, WritePLCReal functions: writing a single value 66. . . . . . . . . . . .8.3.3 ReadPLCBoolEx, ReadPLCIntEx, ReadPLCRealEx functions: reading multiple values 67. .

8.3.4 WritePLCBoolEx, WritePCLIntEx, WritePLCRealEx functions: writing multiple values 68. . . .

8.4 SerialLib library 69. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.4.1 SerialOpen function: opening a channel to a serial device 70. . . . . . . . . . . . . . . . . . . . . . . . . . .8.4.2 SerialClose function: closing a channel to a serial device 73. . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.4.3 SerialReceive function: reading from a serial device 74. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8.4.4 SerialSend function: writing to a serial device 75. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.4.5 SerialCommand function: commands for serial channels 76. . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.4.6 SerialGetInfo function: information about a serial channel 77. . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.5 3964Lib library 78. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8.5.1 P3964Open function: creating a connection to a 3964(R) device 79. . . . . . . . . . . . . . . . . . . . . .

8.5.2 P3964Close function: closing a connection to a 3964(R) device 82. . . . . . . . . . . . . . . . . . . . . .

8.5.3 P3964Receive function: reading from a 3964(R) device 83. . . . . . . . . . . . . . . . . . . . . . . . . . . . .8.5.4 P3964Send function: writing to a 3964(R) device 84. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.6 KcpLib library 85. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8.6.1 KcpSetKeys function: supply key information to library 86. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8.6.2 KcpSystemKeys function: KCP system keys 86. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.6.3 KcpLeftKeys function: left--hand KCP status keys 87. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8.6.4 KcpTopKeys function: KCP menu keys 88. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8.6.5 KcpRightKeys function: right--hand KCP status keys 89. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.6.6 KcpBottomKeys function: lower KCP softkeys 90. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8.6.7 Example: time switching diagram 91. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.7 AutoExtLib library 92. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.7.1 Function: KRC_AutoExt 93. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.7.2 Function: VKRC_AutoExt 95. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9 Troubleshooting 96. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.1 Log file proconos.log 96. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.2 Error codes for ExtensionLib library 96. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.3 Error codes for library SerialLib 97. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.4 Error codes for 3964Lib library 98. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


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1 Introduction

This document describes the software package KUKA.PLC Multiprog and its interactionwith the development environment ProConOS.

KUKA.PLC Multiprog is a SoftPLC for use in the KR C robot controller.

1.1 Target group

This document is intended for robot programmers and personnel with the appropriatetraining. Configuration of KUKA.PLC Multiprog requires advanced specialized knowledgeconcerning the robot system.

Moreover, this document assumes that the user has knowledge of PLCs.

Information about Robot Programmer training courses at KUKA College isavailable on the Internet under www.kuka--roboter.de.

1.2 Safety

W A R N I N G !

This document must be kept available at all times either as a hard copy or inelectronic form at the robot system or the development computer. For example, ahard copy can be inserted at the back of the KR C Operating Handbook.

Observe the safety instructions in the document Safety, General of the KR COperating Handbook.

In exceptional cases, incorrect configuration or operation can lead to materialdamage and/or personal injury. It is therefore absolutely essential for configurationto be carried out exclusively by trained personnel.


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1 Introduction (continued)


1.3 Overview of the document

Chapter 2introduces the functions of the KUKA.PLC Multiprog components.

Chapter 3provides a step--by--step description of how to install the KUKA.PLC Multiprogcomponents.

Chapter 4 provides a description of how to configure the KUKA.PLC Multiprog components.

Chapter 6 provides a description of the options for controlling ProConOS by means of KRL.

Chapter 7 provides a description of the predefinable parameters of the KUKA.PLC Multiprogcomponents.

Chapter 8 provides a description of the libraries which can be loaded by means of thepredefinable KUKA.PLC Multiprog component parameters described in Chapter 6.

Chapter 9provides information for use in troubleshooting.

1.4 Trademarks

ProConOS and Multiprog are registered trademarks of KW--Software GmbH.

GraphWorX32 is a registered trademark of Iconics Inc.

Adobe and Acrobat are either registered trademarks or trademarks of Adobe Incorporated.

VxWorks is a trademark of Wind River Systems Inc.


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2 KUKA.PLC Multiprog

The KUKA.PLC Multiprog software package is a supplement to the existing software of aKR C controller. It extends the range of possible solutions for automation tasks alreadyprovided by KRL (KUKA Robot Language).

KUKA.PLC Multiprog thus represents an expanded development environment for PLCapplications. KUKA.PLC Multiprog comprises a number of components, which can beinstalled either on the KR C controller itself, or on a development computer.

In this case, the development computer can be used as a development environment for PLCapplications, which are subsequently executed on the KR C controller.

The description and operator control of the KUKA.PLC Multiprog components are describedin detail in the corresponding handbooks.

The KUKA.PLC Multiprog components are:

G ProConOS runtime system.KUKA.PLCMultiprog uses the ProConOSruntime system to execute PLCapplications.VxWorks real--time operating system. ProConOS is compatible with the IEC standard61131--3, and thus employs standardized syntax and semantics. ProConOS can beconfigured by means of an initialization file, and can be adapted flexibly to therequirements of the robot system.

G MULTIPROG PLC development environmentMULTIPROG is a PLC development environment which can be used to develop PLCapplications.

G MULTIPROG sample projectThe sample project demonstrates the capabilities of MULTIPROG.

KR C controllerWindows operating system

PLC application development

VxWorks real--time operating system

Windows operating systemDevelopment computer

MULTIPROG

KUKA Router

KR C controller

Fig. 1 Installation on development computer and KR C controller


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2 KUKA.PLC Multiprog (continued)



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3 Installation

3.1 Preconditions for installation

KUKA.PLC Multiprog software license

A separate valid software license must be present each time KUKA.PLC Multiprog isinstalled.

3.2 Installing KUKA.PLC Multiprog

KUKA.PLC Multiprog is installed from theKUKA.PLC Multiprog CD--ROM.


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3 Installation (continued)


3.2.1 Installing on non--KR C controllers under Windows 98, ME, 2000 and XP

Hardware and software requirements

-- Operating systems MS Windows 98, Windows ME, Windows 2000, Windows XP

-- Administrator access rights

-- INTEL Pentium processor

-- At least 64 MB main memory (RAM)

-- At least 200 MB hard disk space

-- For remote operation: network connection

Info

The termnon--KR C controllers includes development computers, host computers,visualization computers, etc.

Procedure:

(1) Insert CD.The Setup program is started automatically. If the Autorun function has beendeactivated in the operating system, the program Setup.exe in the root directory of theCD--ROM must be started manually.

(2) The license agreement dialog is displayed:

KUKA.PLC Multiprog -- Install Shield Wizard

Read the license agreement carefully and confirm by pressing Next.

(3) Following confirmation, the Setup program analyzes the computer environment (KR Cor non--KR C) and suggests the components to be installed:

KUKA.PLC Multiprog -- Install Shield WizardSelect Components...

O ProConOSO ProConOS OPC ServerX Multiprog

Adapt the suggested selection as required and confirm by pressingNext.

(4) The next window is displayed:

KUKA Technology SetupPreparing installation of Multiprog...

Installing Multiprog...

(5) Once the installation has been completed, the following is displayed.KUKA.PLC Multiprog -- Install Shield Wizard

The system needs a cold boot

The KR C must be rebooted to save the registration entries for the OPC Server. Theinstallation process is now complete.


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3.2.2 Installing on a KR C controller or Office Lite

Hardware and software requirements

-- KR C with software version KR C V5.2 or higher


-- Operating system Windows XP embedded

-- Administrator access rights

-- INTEL Pentium processor

-- At least 64 MB main memory (RAM)


-- For remote operation: network connection

Procedure:

(1) InsertCD. The Setup Manager dialog window is displayed. If the Autorun function hasbeen deactivated in the operating system, the program Setup.exein the root directoryof the CD--ROM must be started.

(2) The license agreement dialog is displayed.

Read the license agreement carefully and confirm by pressing Next.

(3) Following confirmation, the Setup program analyzes the computer environment (KR Cor non--KR C) and suggests the components to be installed:

KUKA.PLC Multiprog -- Install Shield WizardSelect Components...

X ProConOSO ProConOS OPC ServerO Multiprog

Adapt the suggested selection as required and confirm by pressingNext.

(4) The next window is displayed:

KUKA Technology SetupPreparing installation of ProConOS...

Installing KUKA Router...Installing OPC Server...Installing ProConOS...

(5) Once the installation has been completed, the following is displayed.

KUKA.PLC Multiprog -- Install Shield WizardThe system needs a cold boot

The KR C must be rebooted to save the registration entries for the OPC Server. Theinstallation process is now complete.


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4 Configuration

Once the KUKA.PLC Multiprog components have been installed (see Chapter 3), they canthen be configured. As a rule, configuration is not necessary.

ProConOS is configured by means of an initialization file which can be modified using anASCII--capable text editor.


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4 Configuration (continued)


4.1 Configuring a task priority in ProConOS

InfoWhen the Scheduler is active, priorities are assigned automatically.

The ProConOSprioritymodel describes the fundamental relationships between the prioritiesand the various ProConOS tasks. The priority indicates a precedence in the allocation ofCPU computing time and the use of system resources. The priority of tasks is defined in theinitialization file ...\krc\init\proconos.ini.

Each task is assigned unambiguously to a task range. This relationship is preset, and cannotbe changed. Each task range is assigned a priority; this priority is assigned to each tasklocated in the task range. Each task range is represented by a parameter in the initializationfile. The value of this parameter defines the priority of the tasks located in this task range.The task ranges are:

G ProConOS Supervisor tasks (High Level tasks)This task range contains all tasks which have a higher priority than the highest--priorityuser task, for example robot tasks. (PRIOVISOR parameter, see Section 7.4)Default value of Supervisor tasks: 141

G ProConOS User tasks and the ProConOS Default task (ProConOS Level tasks)This task range contains the PLC tasks and the Default task. (Parameter PRIOUSER,see Section 7.5)Default value of User tasks: 142 to 149

G ProConOS System tasks (Low Level tasks)Low Level tasks have a lower priority than the Default task (see Section 7.5).(Parameter PRIOSYSTEM, see Section 7.6)

Default value of System tasks: 218 to 223

G ProConOS Internal tasks (Parameter PRIOINTERNAL see Section 7.7)Default value of Internal tasks: 200

Priority

0

141

200

201

216

235

250

218

0 1 2 5 15

Highest priority (ProConOS Scheduler)

ProConOS Supervisor task (default PRIOVISOR)

ProConOS User tasks (default PRIOUSER)

ProConOS Internal tasks (default PRIOINTERNAL)

ProConOS Default task (calculated automatically)

ProConOS System tasks (default PRIOSYSTEM)

ProConOS User tasks (minimum value PRIOUSER)

Lowest priority

Number of tasks

Fig. 2 Task priorities


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4.2 Configuring allotment of CPU computing time to tasks

The allotment of CPU computing time to tasks is defined in the initialization file

...\krc\init\proconos.ini .

In order to ensure that low priority tasks will be allotted computing time, ProConOS cyclicallychecks the allocation of CPU computing time between low priority tasks and high prioritytasks.

A percentage (parameter MINCAPACITY, see Section 7.8) is selected, which is allocatedto the higher--priority group, and another percentage (Parameter MAXCAPACITY, seeSection 7.9), which this group is not allowed to exceed.

The portion of CPU computing time defined by the parameter MINCAPACITY which is notrequired according to the situation by High Level tasks and ProConOS tasks (not includingthe default task) will be left to execute the default task.

If, however, the portion of CPU computing time taken by the High Level tasks and theProConOS tasks together exceeds the MAXCAPACITY value, it is assumed that not enoughCPU computing time is available for lower--priority tasks.

In this case, ProConOS is stopped, and an exception (PLC overload) is initiated.

If the parameter CPUASSIGNMENT (see Section 7.19) is activated, this function isautomatically executed and the parameters MINCAPACITY and MAXCAPACITY aredeactivated.

Priority

0

250

Low level

Ts Ts

Default

ProConOS levelT1Te

DefaultDefault

High level

Time

Te: Program run timeTs: Free time slice

Fig. 3 Allotment of time to tasks


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Example

The parameter values in this example are:

MINCAPACITY=50

MAXCAPACITY=70

The situations:

G If the High Level tasks use 30% of the CPU computing time, and the PLC tasks 10%of the CPU computing time, then 10% of the CPU computing time is allotted to theDefault task. 50% of the CPU computing time will remain for the Low Level tasks(including Windows tasks).

G If the High Level tasks use 50% of the CPU computing time, and the PLC tasks 20%of the CPU computing time, then no CPU computing time is allotted to the Default task.

G If the sum of the CPU computing time of the High Level tasks exceeds 70% of the CPU

computing time, then an exception will be initiated.

4.3 Configuring the robot controller

The robot controller is configured automatically during the set--up process by means of thefollowing entries in the file ...\krc\init\iosys.ini:

[DRIVERS]

PROCONOS=,pcosInit,pcosdrv.o

[PROCONOS]

INB511=0

4.4 Configuring ProConOS

Procedure:

(1) Open the file ...\krc\init\proconos.ini in a text editor and modify the parameter values(parameters, see Chapter 7).

(2) Depending on which parameter values have been modified, it may be necessary toreboot the KR C or ProConOS.


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4.5 Configuring the ProConOS / robot controller interface

The interface driver is loaded automatically when ProConOS is started. It is parameterized

via the I/O configuration of the ProConOS project in Multiprog.

ProConOScanusethis interface to access4096 inputs and outputs of therobot controller. Inputsand outputs which are used exclusively by means of ProConOS should be defined starting atI/O number 1032. Inputs 1025 and 1026 are already assigned in the robot controller.

4.5.1 Configuring peripheral I/Os

ProConOS can access physically existing inputs and outputs (I/Os) of the KR C controller.

The I/O mapping of the KR C controller is defined in the file c:\krc\init\iosys.ini. Theconfiguration of the peripheral outputs in the iosys.ini file should be divided into blocks whichare as small as possible.

Start address

Length

Start address

Length

KRC Byte

start address

KRC Byte

start address

Inputs Inputs Outputs

InputsOutputsOutputs

PeripheryKR CProConOS

Fig. 4 Configuration of peripheral I/Os

Access by ProConOS to the KR C I/Os is defined in the Multiprog I/O configuration.

Thestart addressspecifies the first byte in ProConOS from which I/Os can be transferred.

Thelengthspecifies the number of bytes transferred.

TheKRC Byte start address specifies the first byte in the KR C from which I/Os can betransferred.


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4.5.2 Configuring communication I/Os

The ProConOS/KR C interface can be used by ProConOS to exchange data with the KR C

by means of I/Os which do not exist physically. Outputs configured in ProConOS aretransferred directly to the input map of the KR C. Read accesses to inputs configured in thisway are redirected to the KR C outputs.

If a task is to be assigned to the inputs or outputs, this must be declared accordingly.

Start address

Start addressLength

Inputs Inputs

Outputs Outputs

ProConOS KR C

INPUT Length

KRC Byte

OUTPUT

start address

KRC Bytestart address

Fig. 5 Configuration of communication I/Os



TheKRC Byte start address specifies the first byte in the KR C from which I/Os can betransferred.


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4.5.3 I/O configuration

Fig. 6 I/O configuration



The parameter Refresh must beset to bytask.Ifthetask is selected, the inputswill be read at the beginning of the default task work cycle, and the outputs will be writtenat the end of the default task work cycle.

If a different task is specified, the inputs will be read at the beginning of the work cycle forthis task, and the outputs will be written at the end of the work cycle for this task.

The parameterDevicemust be set, in this case, toDriver.

The driver--specific data can be entered in the KRC I/O dialog, which is called by clicking theDriver Parameterbutton.

Fig. 7 KRC I/O dialog

KR C Byte start address:This parameter specifies the byte from which the KR C I/Os willbe accessed.

Peripheral I/O:Connection with signals from the periphery that physically exist(see Section 4.5.1)

Communication I/O:Communication between ProConOS and KR C via I/Os(see Section 4.5.2)

Data type:Number of I/Os transferred in one cycle


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KRC bit address: $IN[9...88] or $OUT[9...88]

Block--by--block configuration with Interbus

This kind of configuration in the iosys.ini file is to be preferred.

[INTERBUS]; ------- Inputs --------INB20=0,x10;--------- Outputs ------OUTB20=0,x10

Byte--by--byte configuration with Interbus

In a byte--by--byte configuration of a field bus, only one ProConOS write cycle is requiredwhen one ProConOS output byte is modified.

[INTERBUS]; ------- Inputs --------INB20=0,x10;--------- Outputs ------OUTB20=0OUTB21=1OUTB22=2OUTB23=3OUTB24=4OUTB25=5OUTB26=6OUTB27=7

OUTB28=8OUTB29=9


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4.6 Configuring the ProConOS/MULTIPROG interface

A connection to ProConOS can be made by via a network card in the KR C and an external

Windows network. This connection can be createdby means of theWindows program KUKARouter: the KUKA Router can route any desired TCP/IP ports. Thus it is also possible toaccess VxWin from a remote computer via Telnet.

Forinformation about using VxWin via Telnet, see thedocumentation for the KUKA Router.

KR C controller

Windows operating system

TCP/IP address, e.g.: 172.16.0.111

Windows operating systemTCP/IP address, e.g.: 172.16.0.177

Development computer

ProConOSRuntime system

MULTIPROGPLC application developmentKUKA Router

KR C controller

VxWorks real--time operating systemTCP/IP address 192.0.1.1

Fig. 8 ProConOS/MULTIPROG interface

The KUKA Router is installed and configured along with ProConOS.

No settings need to be modified.


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4.7 Creating a ProConOS file directory

In order to organize the files created by ProConOS more clearly, it is possible to create a

separate directory for them.

Procedure:

(1) Create a directory, e.g. c:\krc\roboter\PlcData.The file services refer to the directory c:\krc\roboter.

(2) Create a registry key for reading and writing the directory:

HKEY_LOCAL_MACHINE\SOFTWARE\KUKA Roboter GmbH\Cross3\Interfaces\FTP\local\User\target\Dir\PlcData

Default character string value: %InstallationDir%\\Roboter\\PlcData

DWORD value: Rights=dword:00000007

(Rights= is only required for the cross--integrated FTP server in versions KR C V4.1and VKR C V3.3x.)


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5 Scheduler

The ProConOS Scheduler can be used to configure the allocation of computing time in theKR C between ProConOS and Windows.

The Scheduler is activated and configured by means of the CPUASSIGNMENT entry in the[PROCONOS] section of the ProConOS.ini file (see Section 7.19).

12

Win

S_INT

R_INT

Ticks1 2 3 4 5 6 7 8 9 1 0 11 12 1

IPO cycle 1 IPO cycle 2

ProConOS

Fig. 9 Allocation of computing time with the Scheduler activated

When the Scheduler is active, the priorities of the following tasks are calculated automati-cally:

G Supervisor Task

G User Task

G Default Task

When the Scheduler is active, management of the priority of ProConOS and VxWorks tasksby means of the parametersMINCAPACITYandMAXCAPACITYis deactivated.

The allocation of computing time to the two interpreters in the KR C, R--INT and S--INT, isnot affected by the Scheduler.


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5 Scheduler (continued)



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6 Controlling ProConOS by means of KRL

6.1 IOCTL function: Start, stop and call up status of ProConOS

ProConOS can be controlled by means of KRL applications using the function IOCTL. Thefollowing functions can be executed:

G Start ProConOS

G Stop ProConOS

G Call up status of ProConOS

Parameters

G Driver number (nDrvNum): The driver number can be obtained from the fileiosys.ini(see Section 4.3)

G Function number (nFunction)

G Additional parameter (nParameter)

Action Functionno.

Parameter Return value

nFunction nParameter

Call up statusof ProConOS

3 0 The value returned by the function isbinary coded. However, at no time willmore than one bit be set.

Bit 0: POWER ON (ProConOS isrunning, and no PLC program is loaded.)

Bit 1: RUN (The PLC program isrunning.)

Bit 2: STOP (The PLC program isloaded and is not running.)

Bit 3: HALT (The PLC program hasbeen stopped, e.g. by a breakpoint.)

Bit 5: LOADING (The PLC program isbeing loaded.)

Start Pro-ConOS

1000 0: Cold start (allvariable contents

0: ProConOS is running

are deleted andre--initialized)

1: ProConOS could not be started

1: Warm restart(all variable con-tents are deleted


and re--initialized,except for re-manent data)


3: Hot restart (novariable contents


are deleted andre--initialized)


Stop Pro- 1001 0 0: ProConOS has been stoppedConOS 1: ProConOS could not be stopped


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6 Controlling ProConOS by means of KRL (continued)


Syntax

IOCTL ( INT nDrvNum, INT nFunction, INT nParameter) : INT

Example

Call up status of ProConOS PLCSTATE = IOCTL(13,3,0)

Warm restart ProConOS RESULT = IOCTL(13,1000,1)

Stop ProConOS RESULT = IOCTL(13,1001,0)


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7 Configurable ProConOS parameters

This chapter provides detailed descriptions of the parameters in the initialization file...\krc\init\proconos.ini . The parameter values are used to configure ProConOS duringinitialization.

If a parameter is not present in the initialization file, it can be inserted in the order listed here.

7.1 DEBUG parameter

The value of this parameter is used to define whether, in addition to error messages, testoutputs are to be displayed on the Telnet shell or not. The KR C must be restarted after thisparameter is changed.

Info

This function is intended for Debug operation only. The test output should not be set innormal operation.

Range of values

DEBUG=0 Error messages are displayed on the Telnet shell (default value).

DEBUG=1 Test outputs and error messages are displayed on the Telnet shell.

7.2 RESET parameter

Thevalue of this parameter is used to define theway in which ProConOSis reset. ProConOS

must be restarted after the value of this parameter is changed.Range of values

RESET=0 ProConOS is not reset by the action (default value).

RESET=1 ProConOS is stopped andcoldstarted(all variable contents are deleted and re--initialized).

RESET=2 ProConOS is stopped andwarmstarted(all variable contents are deleted and re--initialized, except for remanent data).

RESET=3 ProConOS is stopped andhot started(no variable contents are deleted and re--initialized).

7.3 RELOAD parameterIfReconfigure I/O systemis carried out on the KR C controller, all of the outputs are reset,the drivers are reloaded and changes in configuration files take effect. This value is used todefine whether or not ProConOS is to be stopped and restarted. ProConOS must berestarted after the value of this parameter is changed.

Range of values

RELOAD=0 ProConOS is not affected by the action (default value).

RELOAD=1 ProConOS is stopped andhot restarted.


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7 Configurable ProConOS parameters (continued)


7.4 PRIOVISOR parameter

The value of this parameter specifies the priority of the ProConOS Supervisor task. The

ProConOS Supervisor task must have the highest priority of all ProConOS tasks. Anexample of a Supervisor task is exception handling. For further information, please refer toChapter 4. The KR C must be restarted after this parameter is changed.

Range of values

The parameter valuePRIOVISORmust be larger thanPRIOUSER(see Section 7.5).

PRIOVISOR=0 Highest priority

PRIOVISOR=187 Default priority (default value)

PRIOVISOR=234 Lowest priority

7.5 PRIOUSER parameterThe value of this parameter specifies the priority of the ProConOS User tasks. MULTIPROGallows the assignment of 15 priority levels, which can be mapped on ProConOS by meansof PRIOUSER. The priority defined via this parameter corresponds to priority 1 inMULTIPROG. The Default task has the lowest priority level of the user tasks. The priorityof the Default task cannot be defined, since it is calculated by ProConOS from the value ofthe PRIOUSER parameter (DEFAULT TASK = PRIOUSER + 15). The Default task receivescomputing time if no other ProConOS task requires computing time.

Forfurther information, please refer to Chapter4. TheKR C controller must be restarted afterthis parameter is changed.

Range of values

The value of thePRIOUSERparameter must be greater than the value of thePRIOVISOR parameter plus 1 (PRIOUSERPRIOVISOR + 1) (see Section 7.4).

PRIOUSER=0 Highest priority

PRIOUSER=201 Default priority (default value)

PRIOUSER=235 Lowest priority

7.6 PRIOSYSTEM parameter

The value of this parameter specifies the priority of the ProConOS System task. Thefunctions of the ProConOS System tasks are communication with MULTIPROG, debuggingand memory management. System tasks receive the lowest priority level. For further

information, please refer to Chapter 4. The KR C controller must be restarted after thisparameter is changed.

Range of values

The value of the PRIOSYSTEM parameter is greater than or equal to the value of thePRIOUSERparameter plus 16 (PRIOSYSTEMPRIOUSER + 16) (see Section 7.5).

PRIOSYSTEM=0 Highest priority

PRIOSYSTEM=217 Default priority (default value)

PRIOSYSTEM=250 Lowest priority


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7.7 PRIOINTERNAL parameter

The value of this parameter defines the priority of two tasks which are used for internal

management purposes:

-- one task that initializes and starts the ProConOS runtime system

-- another task that saves the remanent data to the harddrive inthe event of a powerfailure (Powerfail)

The KR C must be restarted after this parameter is changed.

Range of values

The priority is freely selectable, but should be adjusted to suit the overall system.

PRIOINTERNAL=0 Highest priority

PRIOINTERNAL=200 Default priority (default value)

PRIOINTERNAL=250 Lowest priority

7.8 MINCAPACITY parameter

The value of this parameter defines the minimum CPU utilization level, in percent, of theProConOS tasks and the higher--priority tasks, e.g. VxWin.

If the parameter CPUASSIGNMENT (see Section 7.19) is activated, this parameter isignored. The KR C must be restarted after this parameter is changed.

Range of values

MINCAPACITY=0 Minimum CPU utilization 0%

MINCAPACITY=50 Minimum CPU utilization 50% (default value)MINCAPACITY=100 Minimum CPU utilization 100%

7.9 MAXCAPACITY parameter

The value of this parameter defines the maximum CPU utilization level, in percent, of theProConOS tasks and the higher--priority tasks, e.g. VxWin.

If the parameter CPUASSIGNMENT (see Section 7.19) is activated, this parameter isignored. The KR C must be restarted after this parameter is changed.

Range of values

MAXCAPACITY=0 Maximum CPU utilization 0%

MAXCAPACITY=70 Maximum CPU utilization 70% (default value)

MAXCAPACITY=100 Maximum CPU utilization 100%


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7.10 DELRETAIN parameter

InfoIf remanent variables are inserted in the variable list, all of the subsequent variables areshifted. Thus with DELRETAIN=1the consistency of the subsequent remanent vari-ables cannot be ensured. Therefore new variables should be inserted only at the end ofthe variable list.

The value of this parameter defines whether the remanent data are deleted or retained. TheKR C must be restarted after this parameter is changed.

Range of values

DELRETAIN=0 Remanent data are retained.

DELRETAIN=1 Remanent data are set to their initialization values (default value)

7.11 DELRETAINFILE parameter

The value of this parameter defines whether the file with the remanent data is deleted afterbeing read in.

Range of values

DELRETAINFILE=0 The file with the remanent data is not deleted (default value).

DELRETAINFILE=1 The file with the remanent data is deleted.

7.12 AUTOARCHIVERETAIN parameterThe value of this parameter defines whether the remanent data is saved in the file when theKR C is shut down.

It is generally only necessary to prevent saving if the data are already saved by anotherapplication (see Section 9.2.1).

Range of values

AUTOARCHIVERETAIN=0 The remanent data are not saved.

AUTOARCHIVERETAIN=1 The remanent data are saved (default value).


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7.13 RETAINSIZE parameter

InfoIf the value of this parameter is changed, these settings must be defined in MULTIPROG.

The value of this parameter defines the size of the area for the remanent data in bytes. Thissize can be adjusted if necessary.

If the value of the RETAINSIZE parameter is changed or thesize of the data area is changed,certain settings must be reconfigured in MULTIPROG.

Range of values

RETAINSIZE=512 Default size 512 bytes

7.14 RESTOREOUTPUTS parameterReconfigure I/O systemtriggers the following processes in the KR C:

G All outputs are reset

G All drivers are reloaded

G All modifications in the configuration files take effect

Range of values

RESTOREOUTPUTS=0 Do not restore values (default value)

RESTOREOUTPUTS=1 Restore values

7.15 ROOTPATH parameter

The value of this parameter defines the directory in which the ProConOS files (e.g. theremanent data) are kept. The directory must be read-- and write--enabled. The KR C mustbe restarted after this parameter is changed.

Syntax

ROOTPATH=c:\program_files\krc\binAbsolute path (default value)

7.16 BINPATH parameter

The value of this parameter defines the directory in which the runtime module with the filenameproconos.ois located. The KR C must be restarted after this parameter is changed.

Syntax

Either absolute paths or relative paths can be used as the value.

BINPATH=c:\program_files\krc\bin Absolute path (default value)

BINPATH=bin Relative path within the root directory


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7.17 LIBPATH parameter

The value of this parameter defines the directory in which the ProConOS libraries are

located. The default setting is the LIB directory in the KR C directory. The KR C controllermust be restarted after this parameter is changed.

Syntax

LIBPATH=c:\program_files\krc\lib Absolute path (default value)

LIBPATH=bin Relative path within the root directory

7.18 LIBRARIES parameter

The value of this parameter defines which modules and libraries can be dynamicallyreloaded. The KR C must be restarted after this parameter is changed.

Range of values

LIBRARIES=ExtensionLib.o ExtensionLib library (see Section 8.1)

LIBRARIES=KrcLib.o KrcLib library (see Section 8.2)

LIBRARIES=KrcExVarLib.o KrcExVarLib library (see Section 8.3)

LIBRARIES=SerialLib.o SerialLib library (see Section 8.4)

LIBRARIES=3964Lib.o 3964Lib library (see Section 8.5)

LIBRARIES=KcpLib.o KcpLib library (see Section 8.6)

Multiple values are separated by commas, e.g.:

LIBRARIES=KrcLib.o,SerialLib.o


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7.19 CPUASSIGNMENT parameter

InfoThis function may only be used after consultation with the KUKA Roboter Service de-partment. This function can adversely affect the real--time behavior of the robot system.

The value of this parameter defines the time slice of the CPU computing time in which theProConOS tasks are executed. If this parameter is active or entered in the initialization file,the MINCAPACITY and MAXCAPACITY parameters are deactivated automatically and thepriorities of the Supervisor task, the User task and the Default task are calculatedautomatically.


Syntax

The value which is represented here by the placeholder [time_slice_x] defines the time sliceduring which ProConOS is allotted exclusive use of the processor time. Multiple values areseparated by commas.

CPUASSIGNMENT=[time_slice_1],[time_slice_2],[time_slice_n]

Example:Execution of ProConOS in time slices 3 and 9 (default).

CPUASSIGNMENT=3,9


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7.20 SERIAL parameter

The value of this parameter defines whether or not a serial interface is available for

ProConOS. The serial interface between a development computer (MULTIPROG) and theKR C (ProConOS) can be used to transfer programs when no TCP/IP network is available.


In order to configure the activated serial interface, it is also necessary to configure theparameters COM (see Section 7.21) and BAUDRATE(see Section 7.22).

Range of values

SERIAL=0 Serial interfaces are deactivated for ProConOS (default value)

SERIAL=1 Serial interfaces are activated for ProConOS

7.21 COM parameter

Info

If the value of this parameter is changed, the values of the parameters COM1andCOM2must be adapted in the [SERIAL]section of the initialization filec:\krc\robo-ter\init\hw_inf.ini .

Info

Please ensure that no conflicts with other devices or applications are created on theserial interface, for example with SerialLib or 3964Lib.

The value of this parameter defines whether serial interface 1 (COM 1) or serial interface 2(COM 2) is used. This parameter is only active if the parameter SERIALis activated (see

Section 7.20).


Range of values

COM=1 Serial interface 1 (COM 1) is used

In the[SERIAL]section of the file c:\program_files\krc\init\hw_inf.ini:

COM1=ENABLE

COM2=DISABLE

COM=2 Serial interface 2 (COM 2) is used

In the[SERIAL]section of the file c:\program_files\krc\init\hw_inf.ini:

COM1=DISABLE

COM2=ENABLE


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7.22 BAUDRATE parameter

InfoThe value of this parameter must also be defined in the resource settings in the MULTI-PROG wt project.

Operator control of MULTIPROG is described in the attached manufacturer documenta-tion.

The value of this parameter defines the baud rate of the COM interface which has beendefined by means of the COM parameter (see Section 7.21).

This parameter is only active if the parameter SERIALis activated (see Section 7.20).


Range of values

BAUDRATE=2400 COM interface with 2,400 baud




7.23 SIGNALFILES parameter

The parameter SIGNALFILES serves to signal *.dat files to the ProConOS system that areused to access I/O data symbolically. It is preset during setup with the files C:\KRC\Ro-boter\KRC\R1\System\$Config.dat and C:\KRC\Roboter\KRC\Steu\Mada\$Machine.dat

and can be expanded as required.

The functionality is currently used by the AutoExtLib and ExtensionLib libraries.

7.24 SIGNALFILEREAD parameter

The signal files referred to in 7.23 are read in accordance with the entrySIGNALFILEREAD.If this entry is set to =BOOT, the signal files are read once when ProConOS or the controlleris started. Otherwise, the signal files are reloaded every time ProConOS program executionis started. If Automatic External interface signals are to be reconfigured, ProConOS mustbe stopped and restarted.


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8 Libraries

This chapter describes the libraries which can be dynamically loaded by means ofProConOS.

The libraries are loaded by means of the value of the parameter LIBRARIES (seeSection 7.18) in the initialization file proconos.ini.

8.1 ExtensionLib library

This section describes the ProConOS functions of the library ExtensionLib.

8.1.1 SaveRetain function: save remanent data by program

This function block can be used to save remanent data via PLC programs. Saving can takeseveral hundreds of milliseconds, depending on the volume of the data. For this reason, thefunction block should be executed either in the SPG2 stop task, or in another task which isnot monitored by the watchdog.

Fig. 10 SaveRetain function block symbol

Parameter Datatype

I/O Description

Enable BOOL IN A rising edge at this input activates the function-ality of the function module.

Success BOOL OUT FALSE: An error occurred when saving the re-manent data.

TRUE: The remanent data were saved success-fully.


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8 Libraries (continued)


8.1.2 PlcSleep function: provide CPU computing time

InfoThis function may only be used after consultation with the KUKA Roboter Service de-partment. This function can adversely affect the real--time behavior of the robot system.

This function block can be used to provide CPU computing time to lower--priority tasks of thelower--level operating system.

Fig. 11 PlcSleep function block symbol

Parameter Datatype

I/O Description

SleepTime BOOL IN CPU computing time in milliseconds which is tobe provided.


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8.1.3 File services

The function blocks listed in this section give ProConOS access to the file system. With this

function block, a maximum of 31 files can be open at the same time. When ProConOS isstarted, all files which are still open are automatically closed. Since values are saved in eachinstance of the function block, a separate instance must be created for each action.

Each of these function blocks has the inputEnable and the outputDone. TheEnable inputis used to initiate the file action. For files which were opened by means of ExtLib, the outputDone reports theend of theaction, regardless of whether or not it was successfullyexecuted.

The input Enableremains set to the value1 until the action has been ended. The outputDoneis reset whenEnableis reset.

Enable

Action

Done

Time

Fig. 12 Enable and Done signals

For information on creating the ProConOS data directory, see also Section 4.7.


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8.1.3.1 FileOpen function: opening a file

This function block can be used to open a file for subsequent read or write access.Especially

with large files, it is important to keep in mind that when the file is opened its entire contentsare read and buffered in VxWORKS. Modifications which are made after opening the file, forexample under Windows, are only recognized when the file is opened again.

Fig. 13 FileOpen function block symbol

Parameter Datatype

I/O Description

Enable BOOL IN Activation input: A rising edge causes the inputparameters to be transferred and the actionOpen fileto be initiated

FileName STRING IN The name and path of the file which is to beopened. Directory levels in the path are sepa-rated by two backslashes (e.g.PlcData\\Test.dat).

Options BYTE IN 0: Read access

1: Write access

2: Read and write access

5: Write access (the file is created if it is not al-ready present)

7: Read and write access (the file is created if itis not already present)

Done BOOL OUT This parameter is set to the value1 when theaction has been completed. In order to determinewhether the action was successfully completed,theResultparameter of this function must alsobe evaluated.

Result INT OUT 0: Action successful

Otherwise: error (see Section 9.2)

FileId BYTE OUT The unambiguous reference number for theopened file; must be buffered for use in subse-quent function calls.


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8.1.3.2 FileClose function: closing a file

This function block can be used to close a file opened by means of the FileOpenfunction

(see Section 8.1.3.1). Changes to the contents of the file are only written to the file whenit is closed.

Fig. 14 FileClose function block symbol

Parameter Datatype

I/O Description

Enable BOOL IN Activation input: A rising edge causes the inputparameters to be transferred and the actionClose fileto be initiated

FileId BYTE IN The unambiguous reference number for anopened file; generated by theFileOpen function(see Section 8.1.3.1).

Done BOOL OUT This parameter is set to the value1 when theaction has been completed. In order to determinewhether the action was successfully completed,theResultparameter of this function must also

be evaluated.Result INT OUT 0: successful



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8.1.3.3 FileWrite function: writing data

This function module can be used to write data from ProConOS variables to an opened file.

Changes are only written to the file when it is closed.

Fig. 15 FileWrite function block symbol

Parameter Datatype

I/O Description

Enable BOOL IN Activation input: A rising edge causes the inputparameters to be transferred and the actionWrite datato be initiated


Data ANY IN The variable with data which are to be written tothe file. This variable can be of any data type,e.g. BYTE, INT, STRING, STRUCT, etc.


Result INT OUT 0: successful

1: error (see Section 9.2)


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8.1.3.4 FileRead function: reading data

This function block can be used to read data of ProConOS variables from an opened file.

Since when the file is opened its entire contents are read and buffered in VxWORKS, anychanges which are made after it is opened, e.g. under Windows, are only recognized afterthe file is opened again.

Fig. 16 FileRead function block symbol

NOTE

Output parameters of data type ANY are displayed on the left side of the function block.

Parameter Datatype

I/O Description

Enable BOOL IN Activation input: a rising edge causes the inputparameters to be transferred and the Read dataaction to be initiated.


Data ANY OUT The variable to which data are to be assignedfrom the file. These variables can be of any datatype, e.g. BYTE, INT, STRING, STRUCT, etc.

Size INT IN Number of characters to be read

Done BOOL OUT This parameter is set to the value1 when theaction has been completed. In order to determinewhether the action was successfully completed,theResultparameter of this function must also

be evaluated.Result INT OUT 0: successful



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8.1.3.5 FileSeek function: changing the file position

This function block can be used to change the position in the file where writing or reading is

carried out.

Fig. 17 FileSeek function block symbol

Parameter Datatype

I/O Description

Enable BOOL IN Activation input: A rising edge causes the inputparameters to be transferred and the action Fileinformation to be initiated

FileId BYTE IN An unambiguous reference number for anopened file; generated by theFileOpen function(see Section 8.1.3.1).

Start BYTE IN The start point within the file and the position

from which repositioning is to be carried out:0: current file position

1: beginning of the file (offset must be positive)

2: end of the file (offset must be negative)

Offset INT IN The number of bytes by which the file position isto be changed.





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8.1.3.6 FileGetInfo function: file information

This function block can be used to read information about an opened file. This module does

not have any Done output, i.e. the values of the output parameters are available immediatelyafter the module is called.

Fig. 18 FileGetInfo function block symbol

Parameter Datatype

I/O Description

Enable BOOL IN Activation input: A rising edge causes the inputparameters to be transferred and the action Fileinformation to be initiated

FileId BYTE IN An unambiguous reference number for anopened file; generated by theFileOpen function(see Section 8.1.3.1).



FileName STRING OUT File name

FilePos DINT OUT The current file position.

LastError DINT OUT The operating system error number of the lasterror to occur. This information is needed for de-tailed troubleshooting.


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8.1.3.7 FileDelete function: deleting a file

This function block can be used to delete a file from the hard disk of the KR C controller.

Fig. 19 FileDelete function block symbol

Parameter Datatype

I/O Description

Enable BOOL IN Activation input: A rising edge causes the inputparameters to be transferred and the actionDelete fileto be initiated

FileName STRING INT The file name of the file to be deleted.





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8.1.3.8 Example

In this example, the file c:\krc\roboter\PlcData\Test.dat is deleted, created again, opened,

written with aBYTEand aSTRING, and closed, all in MULTIPROG.

Fig. 20 File operation example


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8.1.4 Accessing KR C signals

The function blocks KrcSignalRead and KrcSignalWrite allow symbolical access to the I/Os

of the KR C controller. This enables I/O assignment without a PLC project and without Multi-prog. The assignment between the symbol and the I/O address is made by means of a KR Csignal declaration. For further information, see Sections 7.23 and 7.24.

Info

It must be remembered that accessing I/Os during a PLC cycle violates the PLC princi-ple which stipulates that input data must not be changed at any point in the cycle andthat outputs are written at the end of the cycle.

Info

When attempting to write to system outputs, it is possible that a message may be gen-erated cyclically in the message window. This can cause the message buffer to over-

flow, thereby disabling the controller.

Info

It must be borne in mind that the status setting of outputs which are simultaneously be-ing written to from elsewhere, e.g. by KrcloDrv and the KrcSignalWrite function block,will be unpredictable.

8.1.4.1 KrcSignalRead

The KrcSignalRead function block allows I/O data to be read symbolically.

KrcSignalRead_1

SignalName

Value

Error

KrcSignalRead

Although the parameter Value appears as an input, the read value is written to the linkedvariable.

Parameter Datatype

Description

SignalName STRING Name of the signal that is to be read

Value ANY Read value

Error INT Error code

Error codes

Code Meaning

0 Successful

--2 Signal not found

--6 Buffer too small


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8.1.4.2 KrcSignalWrite

The KrcSignalWrite function block allows I/O data to be written symbolically.

KrcSignalWrite_1

SignalName

Value

Error

KrcSignalWrite

Parameter Datatype

Description

SignalName STRING Name of the signal that is to be writtenValue ANY Value to be written

Error INT Error code

Error codes

Code Meaning

0 Successful

--2 Signal not found

--6 Buffer too small


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8.2 KrcLib library

This library carries out read and write access to robot data. During installation, this library

is inserted as a project library in MULTIPROG.

8.2.1 ReadAxisAct function: reading $AXIS_ACT

Info

This function may only be used after consultation with the KUKA Roboter Servicedepartment. This function can adversely affect the real--time behavior of the robotsystem. To prevent this, if allowed by the application, the actual position should be readby a task that is processed a maximum of once every 12 ms.

This function block can be used to read by means of the variable $AXIS_ACTthe current

actual robot position values of axes A 1 to A 6.

Fig. 21 ReadAxisAct function block symbol

Parameter Datatype

I/O Element Description

A1 REAL OUT $AXIS_ACT.A1 Angle A 1




A5 REAL OUT $AXIS_ACT.A5 Angle A 5A6 REAL OUT $AXIS_ACT.A6 Angle A 6


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Examples

The example shows a call in the programming language IL:

CAL ReadAxisAct_1LD ReadAxisAct_1.A1ST AxisAct.A1LD ReadAxisAct_1.A2ST AxisAct.A2

LD ReadAxisAct_1.A3ST AxisAct.A3LD ReadAxisAct_1.A4ST AxisAct.A4LD ReadAxisAct_1.A5ST AxisAct.A5LD ReadAxisAct_1.A6ST AxisAct.A6

The example shows a call in the programming language ST:

ReadAxisAct_1();AxisAct.A1:=ReadAxisAct_1.A1;AxisAct.A2:=ReadAxisAct_1.A2;AxisAct.A3:=ReadAxisAct_1.A3;AxisAct.A4:=ReadAxisAct_1.A4;AxisAct.A5:=ReadAxisAct_1.A5;AxisAct.A6:=ReadAxisAct_1.A6;


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8.2.2 ReadAxisActEx function: reading $AXIS_ACT

InfoThis function may only be used after consultation with the KUKA Roboter Servicedepartment. This function can adversely affect the real--time behavior of the robotsystem. To prevent this, if allowed by the application, the actual position should be readby a task that is processed a maximum of once every 12 ms.

This function block can be used to read by means of the variable $AXIS_ACTthe currentactual values of axes A 1 to A 12.

Fig. 22 ReadAxisActEx function block symbol

Parameter Datatype




A3 REAL OUT $AXIS_ACT.A3 Angle A 3A4 REAL OUT $AXIS_ACT.A4 Angle A 4










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Example

The example shows a call in the programming language IL:

CAL ReadAxisActEx_1LD ReadAxisActEx_1.A1ST AxisAct.A1LD ReadAxisActEx_1.A2ST AxisAct.A2

LD ReadAxisActEx_1.A3ST AxisAct.A3LD ReadAxisActEx_1.A4ST AxisAct.A4LD ReadAxisActEx_1.A5ST AxisAct.A5LD ReadAxisActEX_1.A6ST AxisAct.A6LD ReadAxisActEx_1.A7ST AxisAct.A7LD ReadAxisActEx_1.A8ST AxisAct.A8LD ReadAxisActEx_1.A9ST AxisAct.A9LD ReadAxisActEx_1.A10ST AxisAct.A10LD ReadAxisActEx_1.A11ST AxisAct.A11LD ReadAxisActEx_1.A12ST AxisAct.A12

The example shows a call in the programming language ST:

ReadAxisActEx_1();AxisAct.A1:=ReadAxisActEx_1.A1;AxisAct.A2:=ReadAxisActEx_1.A2;AxisAct.A3:=ReadAxisActEx_1.A3;AxisAct.A4:=ReadAxisActEx_1.A4;AxisAct.A5:=ReadAxisActEx_1.A5;AxisAct.A6:=ReadAxisActEx_1.A6;AxisAct.A7:=ReadAxisActEx_1.A7;AxisAct.A8:=ReadAxisActEx_1.A8;

AxisAct.A9:=ReadAxisActEx_1.A9;AxisAct.A10:=ReadAxisActEx_1.A10;AxisAct.A11:=ReadAxisActEx_1.A11;AxisAct.A12:=ReadAxisActEx_1.A12


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8.2.3 ReadBaseAct function: reading $ACT_BASE

This function block can be used to read by means of the variable$ACT_BASEthe current

position of the base origin.

Fig. 23 ReadBaseAct function block symbol

Parameter Datatype


bValid BOOL OUT FALSE: no tool present

TRUE: tool present

X REAL OUT $ACT_BASE.X X coordinate

Y REAL OUT $ACT_BASE.Y Y coordinate

Z REAL OUT $ACT_BASE.Z Z coordinate

A REAL OUT $ACT_BASE.A Orientation A

B REAL OUT $ACT_BASE.B Orientation B

C REAL OUT $ACT_BASE.C Orientation C


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8.2.4 ReadOvPro function: reading $OV_PRO:

This function block can be used to read by means of the variable $OV_PRO the current

override of the KR C.

The return value of this function is the override within a value range from 0 to 100.

Fig. 24 ReadOvPro function block symbol

8.2.5 WriteOvPro function: writing $OV_PROThis function block can be used to set by means of the variable $OV_PRO the currentoverride of the KR C.

The input parameter is the override within a value range from 0 to 100.

Fig. 25 WriteOvPro function block symbol


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8.2.6 ReadPosAct function: reading $POS_ACT

InfoThis function can adversely affect the real--time behavior of the robot system. To pre-vent this, if allowed by the application, the actual position should be read by a task thatis processed a maximum of once every 12 ms.

This function block can be used to read by means of the variable $POS_ACTthe currentactual values of the robot position.

Fig. 26 ReadPosAct function block symbol

Parameter Data

type


bValid BOOL OUT FALSE: not valid

TRUE: valid

X REAL OUT $POS_ACT.X X coordinate

Y REAL OUT $POS_ACT.Y Y coordinate

Z REAL OUT $POS_ACT.Z Z coordinate

A REAL OUT $POS_ACT.A Orientation A

B REAL OUT $POS_ACT.B Orientation B

C REAL OUT $POS_ACT.C Orientation C


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8.2.7 ReadSenInt function: reading $SEN_PINT[ ]

This function block can be used to read 20 KR C variables of the type Integer which are

available for KRL programming, which contain freely available integer and real values, andwhich can be accessed by means of the sensor interface.

Fig. 27 ReadSenInt function block symbol

Parameter Datatype

I/O Description

Index BYTE IN Index of the KR C variables from 1 to 20

Function result DINT OUT Value of variable

8.2.8 WriteSenInt function: writing $SEN_PINT[ ]

This function block can be used to write to 20 KR C variables of the type Integer which areavailable for KRL programming, which contain freely available integer and real values, andwhich can be accessed by means of the sensor interface.

Fig. 28 WriteSenInt function block symbol

Parameter Datatype

I/O Description


Value DINT OUT Value of variable


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8.2.9 ReadSenReal function: reading $SEN_PREA[ ]

This function block can be used to read 20 KR C variables which are available for KRL

programming, which contain freely available integer and real values, and which are availableby means of the sensor interface.

Fig. 29 ReadSenReal function block symbol

Parameter Datatype

I/O Description


Function result DINT OUT Value of variable

8.2.10 WriteSenReal function: writing $SEN_PREA[ ]

This function block can be used to read 20 KR C variables which are available for KRLprogramming, which contain freely available integer and real values, and which are availableby means of the sensor interface.

Fig. 30 WriteSenReal function block symbol

Parameter Datatype

I/O Description


Value REAL IN Value of variable


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8.2.11 ReadToolAct function: reading $ACT_TOOL

This function block can be used to read by means of the variable $ACT_TOOL the current

position of the tool origin.

Fig. 31 ReadToolAct function block symbol

Parameter Datatype


bValid BOOL OUT FALSE: no tool present

TRUE: tool present

X REAL OUT $ACT_BASE.X X coordinate

Y REAL OUT $ACT_BASE.Y Y coordinateZ REAL OUT $ACT_BASE.Z Z coordinate

A REAL OUT $ACT_BASE.A Orientation A

B REAL OUT $ACT_BASE.B Orientation B

C REAL OUT $ACT_BASE.C Orientation C

8.2.12 ReadModeOp function: reading $MODE_OP

This function block can be used to read by means of the variable $MODE_OP the currentoperating mode.

Fig. 32 ReadModeOp function block symbol

Parameter Datatype

I/O Description

Return value BYTE OUT 1: T1

2: T2

3: AUT4: EXT


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8.2.13 ReadProState function: Reading $PRO_STATE

This function block can be used to read by means of the variable $PRO_STATE the current

status of the Submit interpreter and robot interpreter.

Fig. 33 ReadProState function block symbol

Parameter Datatype

I/O Description

Index BYTE IN 0: Submit interpreter

1: Robot interpreterReturn value BYTE OUT 0: invalid index

1: no program selected

2: program selected but not yet started

3: program is being executed

4: program stopped

5: program has been completely executed

8.2.14 DisplayKCPNotifyMsg function: displaying acknowledgement messagesThis function block can be used to display messages to the user in the PLC application.

Info

This function should not be used to display cyclic messages. Otherwise there is a riskthat individual messages can no longer be displayed, or that the KRC message bufferwill overflow.

Fig. 34 DisplayKCPNotifyMsg function block symbol

Parameter Datatype

I/O Description

Msg STRING IN A message to be displayed (max. 28 characters)

Enable BOOL IN The trigger for starting the action


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8.2.15 DisplayKCPStatusMsg function: displaying status messages

This function block can be used to display status messages to the user in the PLC

application. This function sends back an unambiguous message number which can be usedto clear the message (see Section 8.2.16). Status messages cannot be acknowledged.

C A U T I O N !

This function should not be used to display cyclic messages. Otherwise there is a risk thatindividual messages can no longer be displayed, or that the KRC message buffer willoverflow.

Info

This function should not be used to display cyclic messages. Otherwise there is a riskthat individual messages can no longer be displayed, or that the KRC message bufferwill overflow.

Fig. 35 DisplayKCPStatusMsg function block symbol

Parameter Datatype

I/O Description

Msg STRING IN A message to be displayed (max. 28 characters)Enable BOOL IN The trigger for starting the action

MsgNr DINT OUT The unambiguous message number

8.2.16 ClearKCPStatusMsg function: clearing status messages

This function block can be used to have a status message acknowledged by the PLCprogram. Status messages cannot be acknowledged by the user.

Fig. 36 ReadPosAct function block symbol

Parameter Datatype

I/O Description

MsgNr DINT IN Unambiguous message number from previous call of

DisplayKCPStatusMsg(see Section 8.2.15).Enable BOOL IN The trigger for starting the action


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8.2.17 ClearAllKCPStatusMsg function: clearing all status messages

This function block can be used to clear all active status messages.

Fig. 37 ClearAllKCPStatusMsg function block symbol

Parameter Datatype

I/O Description

Enable BOOL IN The trigger for starting the action


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8.3 KrcExVarLib library

This library makes it possible to read and write in an array. The KR C makes available the

following array variables, which can be used for data exchange between ProConOS and theKR C software:

G $SOFTPLCBOOL[1 to n]

G $SOFTPLCINT[1 to n]

G $SOFTPLCREAL[1 to n]

Files

This library comprises the following files:

File name Path Description

KrcExVarLib.o ProConOS library directory The executable binary filetmp.o \MWT\PLC\

FW_LIB\KrcExVarLibThe description of the MULTIPROGlibrary

KrcExVarLib.fwl \MWT\PLC\FW_LIB\KrcExVarLib

The description of the MULTIPROGlibrary

KrcExVarLib.pou \MWT\PLC\FW_LIB\KrcExVarLib

The description of the MULTIPROGlibrary


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8.3.1 ReadPLCBool, ReadPLCInt, ReadPLCReal functions: reading a single value

The function blocksReadPLCBool,ReadPLCIntandReadPLCRealcan each be used to

read a single value from an array.

This example shows the function block ReadPLCBool, which reads the value of the KR Cvariable$SOFTPLCBOOL[1]and assigns it to the ProConOS variablebValue1.

The result is saved in the variablebResult1.

Fig. 38 ReadPLCBool function block symbol

Parameter Datatype

I/O Description

Index INT IN Index valid from 1 to n

Value BOOL OUT Value from the array

DINT OUT

REAL OUT

Result BOOL OUT TRUE: error

FALSE: OK


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8.3.2 WritePLCBool, WritePCLInt, WritePLCReal functions: writing a single value

The function blocksWritePLCBool,WritePLCIntandWritePLCRealcan each be used to

write a single value to an array.

This example shows the function block WritePLCBool, which reads the value of the KR Cvariable $SOFTPLCBOOL[99] and assigns it to theProConOS variable nValue1. Theresultis saved in the variable bResult1.

Fig. 39 WritePCLInt function block symbol

Parameter Datatype

I/O Description

Index INT IN Index valid from 1 to n

Value BOOL OUT Value from the array

DINT OUT

REAL OUT

Result BOOL OUT TRUE: error

FALSE: OK


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8.3.3 ReadPLCBoolEx, ReadPLCIntEx, ReadPLCRealEx functions: reading multiplevalues

softplc multiprog 11 en

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