Contents
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1Introduction6 ..................................................................
1.1Target group6
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1.2Safety6
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1.3Overview of the document6
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1.4Trademarks7
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2KUKA.SoftPLC8 ......................................................
3Installation9
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3.1Preconditions for installation9
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3.2Installing KUKA.SoftPLC9 3.2.1Installing on non--KR C controllers under Windows95,98and Windows ME10
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3.2.2Installing on non--KR C controllers under Windows NT,2000and Windows XP11
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3.2.3Installing on a KR C controller or Office Lite13 3.3Checking the installation13
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3.4Installing the sample project13
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4Configuration14
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4.1Configuring a task priority in ProConOS15
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4.2Configuring allotment of CPU computing time to tasks16
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4.3Configuring the robot controller17 4.4Configuring ProConOS17
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4.5Configuring the ProConOS/robot controller interface17
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4.5.1Configuring a peripheral interface and peripheral I/Os18
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4.5.2Configuring the ProConOS/KRC interface and communication I/Os20
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4.5.3Assigning a task21
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4.6Configuring the ProConOS/MULTIPROG interface22
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4.7Creating a ProConOS file directory24
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5Controlling ProConOS by means of KRL25
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5.1IOCTL function:Start,stop and call up status of ProConOS25
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6Configurable ProConOS parameters27
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6.1DEBUG parameter27
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6.2RESET parameter27
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6.3RELOAD parameter27
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6.4PRIOVISOR parameter28
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6.5PRIOUSER parameter28
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6.6PRIOSYSTEM parameter28
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6.7PRIOINTERNAL parameter29
SoftPLC R3.308.04.00en
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7.3KrcExVarLib library57
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7.3.1ReadPLC*function:reading58
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7.3.2WritePLC*function:writing58
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7.3.3ReadPLC*Ex function:reading59 7.3.4WritePLC*Ex function:writing60
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7.4Library SerialLib61
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7.4.1SerialOpen function:opening a channel to a serial device62
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7.4.2SerialClose function:closing a channel to a serial device65
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7.4.3SerialReceive function:reading from a serial device66
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7.4.4SerialSend function:writing to a serial device67 7.4.5SerialCommand function:commands for serial channels68
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7.4.6SerialGetInfo function:information about a serial channel69
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7.5Library3964Lib70
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7.5.1P3964Open function:creating a connection to a3964(R)device71
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7.5.2P3964Close function:closing a connection to a3964(R)device74
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7.5.3P3964Receive function:reading from a3964(R)device75 7.5.4P3964Send function:writing to a3964(R)device76
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7.6KcpLib library77
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7.6.1KcpSetKeys function:supply key information to library78
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7.6.2KcpSystemKeys function:KCP system keys78
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7.6.3KcpLeftKeys function:left--hand KCP status keys79
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7.6.4KcpTopKeys function:KCP menu keys80 7.6.5KcpRightKeys function:right--hand KCP status keys81
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7.6.6KcpBottomKeys function:lower KCP softkeys82
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7.6.7Example83
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8Troubleshooting84
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8.1Log file proconos.log84
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8.2Error codes for ExtensionLib library84 8.3Error codes for SerialLib library85
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8.4Error codes for3964Lib library86
SoftPLC R3.308.04.00en
1Introduction (continued)
SoftPLC R3.308.04.00en
1.4Trademarks
ProConOS and MULTIPROG are registered trademarks of KW--Software GmbH.GraphWorX32is a registered trademark of iconics Inc.Adobe and Acrobat are either registered trademarks or trademarks of Adobe Incorporated in the U.S.A.and/or in other countries.VxWORKS is a trademark of WIND RIVER Systems Inc.VxWin is a registered trademark of KUKA Roboter GmbH.
KR C controller
OPC Server
Windows operating system Runtime system
KR C controller
VxWORKS real--time operating system
Windows operating system
PLC application development
Development computer
3Installation
SoftPLC R3.308.04.00en
3Installation
Installing the KUKA.SoftPLC components installs all of the components necessary for operation.
3.1Preconditions for installation
Before KUKA.SoftPLC can be installed,a valid KUKA.SoftPLC software license must be present and the hardware and software requirements must be met.KUKA.SoftPLC software license
A separate valid software license must be present each time KUKA.SoftPLC is installed.Hardware and software requirements G
Robot controller --KR C controller software versions VKR C V3.3.3,VKR C V3.3.4,KR C V4.1,OfficeLite,KR C V5.2or higher --At least 20MB hard disk space
G
Development computer
--Operating systems Microsoft Windows 95,Windows 98,Windows ME,Windows NT,Windows 2000,Windows XP;--Administrator access --INTEL Pentium processor
--At least 64MB main memory (RAM)--At least 200MB hard disk space
--For remote operation:network connection
3.2Installing KUKA.SoftPLC
KUKA.SoftPLC can be installed from either the KR C Add--On V2.2CD or the ProConOS
V3.3CD.
3Installation (continued)
SoftPLC R3.308.04.00en
3.2.3Installing on a KR C controller or Office Lite
Procedure:
For the KR C Add--On V2.2CD:(1)Insert CD.
The Setup Manager dialog window is displayed.(2)
Click on KUKA SoftPLC .
The license agreement is displayed .For the ProConOS V3.3CD:(3)
Insert CD.
The license agreement is displayed.General:(4)
Read the license agreement.(e)
If you agree,click on I agree to the terms of the license agreement and then OK/Next .
The status windows of the installation are displayed.(f)If you do not agree,click on Cancel .The installation is aborted.
(5)In the KUKA SoftPLC Setup dialog window,click on Finish .The KUKA SoftPLC Setup asks you to carry out a cold start.(6)Click on OK .(7)
Reboot the system.
3.3Checking the installation
Procedure:G
In Windows Explorer,check whether the creation date of the file ...\krc\log\proconos.log corresponds to the date when the installation was carried out.
If this is the case,ProConOS has been started successfully the first time.
3.4Installing the sample project
The sample project is only available on the KR C Add--On V2.2CD.Procedure:(1)Insert the KR C Add--On CD.
The Setup Manager dialog box is displayed.(2)
Click on Demo .
The sample project is installed.
Priority
Highest priority(ProConOS Scheduler)
ProConOS Supervisor task(default PRIOVISOR)
ProConOS Internal tasks(default PRIOINTERNAL)
ProConOS User tasks(default PRIOUSER)
ProConOS Default task(calculated automatically)
ProConOS System tasks(default PRIOSYSTEM)
ProConOS User tasks(minimum value PRIOUSER)
Lowest priority
Number of tasks
Priority
High level
ProConOS level
Low level
Time
Legend
Te:Program run time
Ts:Free time slice
4Configuration(continued)
SoftPLC R3.308.04.00en Example
The parameter values in this example are:
MINCAPACITY=50
MAXCAPACITY=70
The situations:
G If the High Level tasks use30%of the CPU computing time,and the PLC tasks10%
of the CPU computing time,then the default task will be allotted10%of the CPU computing time and50%of the CPU computing time will remain for the Low Level tasks (including Windows tasks).
G If the High Level tasks use50%of the CPU computing time,and the PLC tasks20%
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 exceeds70%of the CPU
computing time,then an exception will be initiated.
4.3Configuring the robot controller
The robot controller is configured automatically during the set--up process by means of the
following entries in the file...\krc\init\iosys.ini:
[DRIVERS]
PROCONOS=
[PROCONOS]
INB511=0
4.4Configuring ProConOS
Procedure:
(1)Open the file...\krc\init\proconos.ini in a text editor and modify the parameter values
(parameters,see Chapter6).
(2)Depending on which parameter values have been modified,it may be necessary to
reboot the KR C controller or ProConOS.
4.5Configuring the ProConOS/robot controller interface
The interface driver is installed automatically when ProConOS is started,and is
parameterized by means of the input/output configuration of the ProConOS project.
ProConOS can use this interface to access4096inputs and outputs of the robot controller.
Inputs and outputs which are used exclusively by means of ProConOS should be defined
starting at1032.Inputs1025and1026are already defined in the robot controller.
Inputs Inputs Outputs Outputs
Outputs
Inputs Periphery
Configuration of peripheral I/Os in MULTIPROG’s I/O configuration: PROGRAM o_oKRC1:OUTPUT
(
VAR_ADR:=0,
END_VAR_ADR:=9,
DEVICE:=DRIVER,
4Configuration(continued)
SoftPLC R3.308.04.00en 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 required when one ProConOS output byte is modified.
[INTERBUS]
;-------Inputs--------
INB20=0,x10
;---------Outputs------
OUTB20=0
OUTB21=1
OUTB22=2
OUTB23=3
OUTB24=4
OUTB25=5
OUTB26=6
OUTB27=7
OUTB28=8
OUTB29=9
Inputs Inputs
Outputs Outputs
Example
In this program example,ten ProConOS outputs are connected controller,and ten ProConOS inputs are connected to the outputs PROGRAM o_iKRC1:OUTPUT
(