June 27, 2019, 09:09:34 AM
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 KR C4 -> Clear movement buffer after AUT_EXT to T1

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June 16, 2014, 10:35:28 AM
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Hi to everyone.
Do you know if it is possible to clear the buffer movement after switching from AUT_EXT to T1? A customer of ours wants to adjust some positions in T1 mode, but if he restarts the program after switching from T1 to AUT_EXT the robot moves to the original position (the one where it was when it was turned to T1).
1) I would like to switch from AUT_EXT to T1.
2) Move the robot wherever I like.
3) Switch from T1 to AUT_EXT.
4) Avoid the robot moves to the original position after pressing START.

Thank you for you help,
Michele (ITA)

Today at 09:09:34 AM
Reply #1



June 16, 2014, 02:25:59 PM
Reply #1


I would think you could accomplish this by simply block selecting the line that contains the desired motion before putting the robot back into EXT.

June 16, 2014, 03:27:27 PM
Reply #2


Global Moderator
I think that PisoSoft wants to start from a random, non-programmed position (for which there is no Block Select) and start from there.

There's no simple way to do that.  The only thing that occurs to me at first glance would be to interleave PTP $AXIS_ACT commands throughout the entire program, and do a Block Select on the correct one after moving the robot, before switching from Teach back to Auto. 

June 17, 2014, 08:04:16 AM
Reply #3


Thank you, I'll have to find something different. It's incredible that KUKA doesn't have something like the ABB instruction "STOP/NoRegain" but that's it.

June 17, 2014, 03:59:49 PM
Reply #4


Global Moderator
Well, in nearly 20 years in the business, this is the first time I can recall anyone ever needing something like that.

It's not beyond the real of possibility that some equivalent exists in KRCs, but I've never encountered it.

June 17, 2014, 07:55:15 PM
Reply #5


I haven't looked so much at the problem, but i think it should be possible to solve using an interrupt that triggers directly after start. This could be done by having the submitter looking at the current program state and setting an output. Just some ideas to start with.

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