hello
I need one function to force operator to change kuka krc4 in manual (T1/T2) , something like this :
IF IN [1066]== true
then
force to T1/T2 , and fix problem
else all is ok , go forward
end if
switch to t1/t2
-
shotgun -
June 30, 2014 at 8:35 AM -
Thread is marked as Resolved.
-
-
How about something like:
IF IN[1066] == TRUE THEN
WAIT FOR ($MODE_OP == #T1) OR ($MODE_OP == #T2)
ENDIF -
Or "WAIT FOR $T1 OR $ T2"
-
ok , I try , i am not familiar with kuka sintax .
If i change to T1 , program advance or is stoped ?Is need to execute in manual , not good .
-
Switching between modes (T1, T2, AUT, EXT) always halts program execution. There's no way to move seamlessly between them.
-
...And, I can tell you from experience that the robot will not programatically change operating modes. It has to be done manually. What kind of problems are you expecting to possibly have to fix? Is it a robot problem or is it something external to the robot?
If it's external, you could generate a dialog message. Something like:
"Take care of XXX (whatever has triggered your input). Press OKAY to continue robot program."
<OKAY> (button)
This would allow the robot to stay in EXT mode, but would stop the program if the input comes high and then allow the operator to continue the program once the issue is taken care of. In this case, you would probably want to loop back and check the status of the input before continuing the program, but that's easy enough to do inside the condition programming.
-
Problem is external . I have robot welder by points , and is need to change tips automaticaly . I dont have something standard , and is need to use my imagination . When i take off tips , is need to check if it is ok . If not , i need to force manual mode and maintenance to fix problem .
I have one function in path for manual changing tips , but i dont know what is behind .
"tRI_WaitForTipsChange()"
For the moment i use that function , with a wrong message . -
It sounds like what you're dealing with is a situation where there would need to be some physical human interaction with the robot. Do you have a fence circuit? If so, when the cell is opened up, the fence circuit should stop the running program anyway. Once the issue is taken care of, motion parameters can be re-instituted and the program can be continued from where it was left off. Maybe I'm oversimplifying the issue. It's always hard without experiencing what's happening.