Overview of the KUKA Robot’s Background Program Module: SPS
The SPS (Speicherprogrammierbare Steuerung in German, equivalent to Programmable Logic Controller in English) is an indispensable background program module in KUKA robots, playing a pivotal role in the seamless operation of these industrial workhorses.
Function as a Central Control Unit
At its core, the SPS serves as the central control unit for the KUKA robot. It is responsible for orchestrating and synchronizing all the robot’s movements and operations. By integrating different components of the robot system, it ensures that each part works in harmony towards the accomplishment of the assigned tasks. Whether it’s a simple pick – and – place operation or a complex welding process, the SPS coordinates the actions of the robot’s joints, actuators, and sensors.
Signal Handling
One of the primary functions of the SPS is to handle input and output signals. It constantly monitors a wide range of sensors installed on the robot and its surrounding environment. For example, position sensors provide information about the exact location of the robot’s arms and joints, allowing the SPS to precisely control the robot’s movement. Force sensors can detect the amount of pressure applied during a task, which is crucial for applications like assembly or material handling. Based on the data received from these sensors, the SPS generates appropriate output signals to control the actuators, such as motors and solenoids. This signal – based control mechanism enables the robot to perform tasks with high accuracy and repeatability.
Logic – Based Task Execution
The SPS operates based on pre – programmed logic. This logic is designed to meet the specific requirements of different industrial applications. For instance, in a production line where the robot needs to perform a series of tasks in a specific sequence, the SPS ensures that each step is executed in the correct order. It can handle conditional statements, such as starting a new operation only when a previous one is completed successfully. In case of an emergency, the SPS can immediately trigger safety protocols, such as stopping the robot’s movement to prevent accidents.
Communication with External Devices
In addition to controlling the robot itself, the SPS also enables communication between the KUKA robot and external devices. It can interface with other machines on the production line, such as conveyors, vision systems, and human – machine interfaces (HMIs). Through data exchange with these external devices, the robot can adapt to changes in the production environment, receive new instructions, or provide feedback on its status. This communication capability is essential for creating a fully integrated and automated production system.
Customizability
One of the significant advantages of the SPS module is its high degree of customizability. Users can modify the control logic according to their specific production needs. This flexibility allows KUKA robots to be used in a wide variety of industries, from automotive manufacturing to electronics assembly. Whether it’s adjusting the speed of the robot, changing the sequence of operations, or integrating new sensors, the SPS can be easily reprogrammed to accommodate these changes.
In conclusion, the SPS module in KUKA robots is a powerful and versatile tool that underpins the efficiency, reliability, and adaptability of these industrial robots in modern manufacturing environments.
The control system of the KUKA robot is designed with multiple functional modules to achieve different tasks and functions. The SPS (Sub-Program State) program is one of these modules, which allows users to edit and define the logic executed by the robot in the background. This program is usually used to handle tasks that do not require immediate response, such as monitoring sensor status, controlling additional equipment, etc. Specifically, the characteristics of the SPS program include:
Background running: The SPS program continues to run in the background of the robot, even if the robot’s main task is performing other operations.
User editable: Users can write and modify SPS programs according to their needs to achieve specific functions or respond to specific events.
Priority management: In the control system of the KUKA robot, the SPS program has a lower priority than motion control and I/O refresh, which means that when resources are limited, the SPS program will give priority to high-priority tasks.
Cooperation with other modules: The SPS program can work with other control programs of the robot, such as RC (motion control) and I/O refresh, to ensure the efficient operation of the robot system.
1 SPS running file location
In the Workvisual software, you can see that the background file sps is in the robot system folder.
Corresponding to the location on the robot teach pendant
2 SPS file editing
Action logic cannot be added inside the sps file. The editing method of the sps file is opened. Open the user plc program folding and add the program that needs to be scanned in real time in the background.
For example, you can add a program to limit the speed of the robot in manual mode
3 View the running status of the background logic
Click the green S icon button in the main interface of the teach pendant to enter the robot background logic page. If its status is green, it means that the background logic is running normally. If its status is red, you need to click the select/start button on the right to start the background logic.
4 Parallel background program file creation
(1) KUKA robot supports the allocation of 7 additional parallel background program files. You can find the folder where you want to add background logic and create a file with a .sub suffix (select Submit User as type)
(2) Assign the newly created background program BG1 to the parallel background logic, open the S icon on the main interface, and then click the Display/Assign option on the right
Assign BG1 to EX1 and click the Select/Start button on the right to complete the assignment.