Stopping the robot on some events

[karel]

Asimo: thank you, I will try that.

SkyeFire: I wanted to find a way where I could put the code in one place instead of putting it in every programs. This way, I could forget about it and know that I didn't forget to put the lines in my new programs. Secondly, I wanted a way to stop the robot so that it works even when I am not running the program (i.e. jogging the robot). Thanks anyway!

[stefanm]

Hello Karel,

simple problem, simple solution.

Configure $Move_enable to an input (auto extern configuration). It is not just effective in $ext, it even works in the other modes.

The robot will stop smoothly on path, if the signal is falling.
You also can use $drives_off (the robot will stop hard and not on path)

BR Stefan

[stefanm]

The easiest way to have a statement automatically in every program is, to make it in templates folder (C:\KRC\ROBOTER\TEMPLATE - KRC2).
To improve this, you should use a global interrupt program (real SRC).

You can solve it in the same way like KUKA with the StopMess-interrupt and IR_StopMess.src


..Stefan

[Tuipveus]

Disabling $move_enable is one way to do it, but it will have quite long delay until robot will actually stop.

If you need fast stop, you should use two working envelope limitations, where both of the xyz-boxes are so big that they cover whole robot working area. There is no need for cyclic flags, extra variables or interrupts if you want stopping to work in every mode. Keep in mind, that robot might not maintain current path, if speed is high when it will get stopping command from those two signals.

Ok, then robot stops, but it wont start after you set your two signals to state which is allowed. You have to declare (or wire) acknowledging stop-messages to robot output, so you can enable movement again from sbs.sub by sending stop acknowledge to yourself.

If you want slow smooth stop, you should use dropping move enable. If fast emergency-stop, consider using envelope limitations (keeping in mind that you can always go back to the path using $POS_RET).

[karel]

Hi all,

stefanm: Thanks a lot for your first answer: I will try to use the input trick, it seems to be what I need. For the global interrupt, where would you put that?

Tuipveus: I don't understand well your solution which seems really interesting. How can I use 2 working envelope to stop the robot on 2 variables? Can you explain a little bit more please?

Thanks

[Andicot]

Hello Karel,

simple problem, simple solution.

Configure $Move_enable to an input (auto extern configuration). It is not just effective in $ext, it even works in the other modes.

The robot will stop smoothly on path, if the signal is falling.
You also can use $drives_off (the robot will stop hard and not on path)

BR Stefan

I try to use the move_enable signal in my application with automatic external but the problem is that with move_enable down the robot don't move also in T1 and T2.

[stefanm]

Hi,

I understood, you want to have it like that, in any mode.
Suggest an electrical shortcut (key-switch)l.

BR Stefan