Hi, I've got a application where a KR10 R1100 sixx needs to screw a lid on to a box and torque it to roughly 13 newton-meters. The first line of my program is:
I then have a subroutine which makes the monitored motion:
Code
DEF TryScrew()
INTERRUPT ON 1
;FOLD PTP P5 Vel=100 % PDAT3 Tool[3] Base[0];%{PE}%R 8.3.31,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P5, 3:, 5:100, 7:PDAT3
$BWDSTART=FALSE
PDAT_ACT=PPDAT3
FDAT_ACT=FP5
BAS(#PTP_PARAMS,100)
PTP XP5
;ENDFOLD
INTERRUPT OFF 1
END
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If triggered, the interrupt should run the following subroutine:
The problem is that the interrupt doesn't seem to trigger. It just keeps turning past the 13Nm limit, and finally faults out with this error:
Anybody know what I'm doing wrong? Thanks!