Reposition

[saulotovar]

Hi,

I am writing a program that should move the robot inside an interruption. Unfortunately, when the interruption is finished, the KCP ask me to reposition the robot to $POS_RET.

Of course I can acknowledge this message, but I would like to do it automatically. I already change the variable $NEARPATHTOL to 2000 and I still get this Stop (1437) message “Reposition”. Does anyone from you know how to solve this problem?

Thank you very much,
Saúl

Reposition (Stop Message)

BCO not achieved when returning from the interrupt program.

The robot must be repositioned to the interrupt point before the end of the interrupt program, e.g. with LIN $pos_ret

[Jim Tyrer]

;&to do the BCO run, move to current position
PTP $POS_ACT

[MartinH]

As Jim says, try $POS_ACT.

Here's a section of my code, so you can see how I use it :-

Code:

  INTERRUPT DECL 11 WHEN $TORQ_DIFF[2] > 22 DO STOP_SEARCH()
  INTERRUPT ON 11
  SEARCH_STACK()
  INTERRUPT OFF 11
  (etc)
 
DEF STOP_SEARCH ()
  INTERRUPT OFF 11
  BRAKE F
  PTP $POS_ACT
  LIN_REL {Z 20.0}
  OUT_AIR_BLAST = FALSE
  RESUME
END

I believe BRAKE F applies the brakes, and you then need to do PTP $POS_ACT to release the brakes again.

If that doesnt work, please post your code and we can check it for you.

[mookie]

hey i havent tried in a while but i thought you cant move the robot using an interrupt.

[saulotovar]

Hello Martin and Jim,

I tried to do the BCO run using the PTP $POS_ACT, but I still get the Stop alert. My code looks like this,

INTERRUPT DECL 1 WHEN $TIMER[1]>1 DO SpecialMovement()

$TIMER[1]=0
$TIMER_STOP[1]=FALSE

INTERRUPT ON 1
WAIT SEC 20
INTERRUPT OFF 1

DEF SpecialMovement()
   IF $Torque_Axis_Act.A1>10 THEN
                ;PTP $POS_ACT
      LIN {E1 10}
   ENDIF
   $TIMER[1]=0
END


I know that it looks funny, but it is a very special application. The purpose is to move the robot with the hand in one direction. I can move it just one time, but I would like to move it every time I exert a pressure on it (during this 20sec).

thank you very much for your help,
Saúl

[Jim Tyrer]

   IF $Torque_Axis_Act.A1>10 THEN
                ;PTP $POS_ACT
      LIN {E1 10}
   ENDIF

Just at a glance....
Did you want the PTP statement commented out?

[MartinH]

1.  What KCP version are you using?

2.  Which axis / axes do you want to move by hand?

[saulotovar]

Jim, the PTP $POS_ACT is commented because I used it once but it didn't work.

Martin,
   1.- I am using a KCP 5.3 version
   2.- LIN {E1 10}  moves all 7 axes but keeps the TCP in the same position and direction (I am using a Light Weight Robot 3, not yet a commercial version)

I just want to detect a simple push in Axis 1 and then the robot kinematics should move to one direction, but the tool should keep in the same position and direction. After another touch, the robot kinematics should move again in the same direction.

regards,
Saúl