KRC4 Quick Stop!!

You will need to declare the variables at the top of the SPS in the USER DECL fold, then put the code between the LOOP/ENDLOOP

Waiting for xsignal==FALSE shouldn't be used in the SPS as there should be no code which halts it's operation, it should be able to run continuously.

For info, WAIT FOR (NOT xsignal) or WAIT FOR (xsignal==0) is the correct syntax

I'm not sure what effect just switching the program speed to 0 will have, but reducing it on alternate lines won't have any effect without a delay between them, which should be avoided as noted above.

IF ($IN[xsignal] and (NOT stopped)) THEN
    stopped=1  ;**Need to declare a bool for this**
    oldspeed=$ov_pro
    $OV_PRO=0
 ENDIF


IF (stopped==1 AND NOT $IN[xsignal) THEN
   stopped=0
   $OV_PRO=oldspeed
ENDIF

Quote from eusty

You will need to declare the variables at the top of the SPS in the USER DECL fold, then put the code between the LOOP/ENDLOOP

Waiting for xsignal==FALSE shouldn't be used in the SPS as there should be no code which halts it's operation, it should be able to run continuously.

For info, WAIT FOR (NOT xsignal) or WAIT FOR (xsignal==0) is the correct syntax

I'm not sure what effect just switching the program speed to 0 will have, but reducing it on alternate lines won't have any effect without a delay between them, which should be avoided as noted above.

Code

IF ($IN[xsignal] and (NOT stopped)) THEN
    stopped=1  ;**Need to declare a bool for this**
    oldspeed=$ov_pro
    $OV_PRO=0
 ENDIF


IF (stopped==1 AND NOT $IN[xsignal) THEN
   stopped=0
   $OV_PRO=oldspeed
ENDIF

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yes always be careful with OV_pro could be dangerus always remember the setting as Eusty said

but this wont allow it to stop at point B if on the way

for short cycle times (spot welding, handling etc.) you could just use:

LOOP


PTP HOME 
WAIT FOR NOT $in[122]


PTP ... ; do some work
PTP ... ; keep doing whatever...
PTP ...


ENDLOOP

but this will not be suitable for applications as the "quick" stop may be just too long. also perhaps you may not want to move robot away in the middle of the cycle. in such cases interrupt is a better idea.

this means inserting interrupt declaration in your main program:

interrupt global decl 5 when $in[122] do quick_brake()
interrupt on 5

then create a small program (no DAT file needed):

DEF quick_brake()
   brake ; this line initiates stop of the robot
   wait for not $in[122] ; here we stay until $in[122] goes off
   halt ; still wait, until new start is issued
END

but this is just to give you an idea. it goes without saying that you are on your own and any idea need to be tested thoroughly before being considered as a possible solution.