User Manual
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BetrHbKRC2FL--USA--Fehler 11.04.00 en
Example 4
You discover that a robot program always stops at night because an error occurs in the I/O
communication with the PLC. It cannot be determined whether this error is caused by the
PLC program or the robot program since nothing is known about the incorrect communica-
tion at this point.
It is possible for the oscilloscope function to be started in the KRL robot program before this
situation and to be ended after it. The data are overwritten every time the program is correctly
executed. If the motion program is interrupted by an error message, however, the last trace
is saved and the error can be analyzed with the aid of the recorded data.
Box Entry
Name T race4 (max. 7 characters)
Length of recording Length of communication between robot and PLC taken
into consideration.
Pre--Trigger (%) 0
Start by user, recording until buffer is full
DSE card No DSE data
I/O group I/O
Interpolator data None
Test data No test data
As the communication between the controller and the PLC occurs via the I/Os, all affected
inputs/outputs must be recorded. These are defined in the selection box which is opened
using the softkey “I/O Table”.
Now save the configuration by means of the softkey “Save”, and quit the oscilloscope
function by pressing the softkey “Cancel”.
Insert the following lines into the KRL program before
the selected program section in order
to start the trace:
$TRACE.MODE=#T_START
WAIT FOR $TRACE.STATE == #T_END
Insert the following lines into the KRL program after
the selected program section in order
to stop the trace:
$TRACE.MODE=#T_STOP
WAIT FOR $TRACE.STATE == #T_STOP
These changes can only be made at the Expert level.
As soon as the error has been located, these instructions must be removed from the pro-
gram again.
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