Clarification for the Command RESUME in a KUKA Program

arunbluez · January 11, 2016 at 5:21 PM

Hey guys!
Here is a overview of the KRL program i am trying to understand.

Code

DEF cell()


INTERRUPT DECL 1 WHEN STOP_INT DO STOP_ROBOT( )


LOOP


SWITCH PRNUM


CASE 1
main_program()
  IF STOP_ERROR THEN
    main_program()
  ENDIF


CASE 2
second_program()
  IF STOP_ERROR THEN
    second_program()
  ENDIF


ENDSWITCH
ENDLOOP
END


DEF  STOP_ROBOT ( )


INTERRUPT OFF 1
BRAKE
STOP_ERROR=TRUE
RESUME


END

Display More

As you can see, when a program number PRNUM = 1 is selected the main_program() runs. but during the execution of the main_program(), if the Interrupt STOP_INT is true then the STOP_ROBOT() function is executed. so my question is when the program reaches the RESUME it aborts the main_program() and starts again from the LOOP or from the
IF STOP_ERROR THEN line? I would like to know when the RESUME is executed on program interrupt where does the execution start again?

Thanks a lot in advance!

DannyDJ · January 11, 2016 at 5:36 PM

Hello. It will start back at "IF STOP_ERROR THEN" line, because you used the resume command.

**panic mode** · January 11, 2016 at 5:38 PM

what is STOP_INT? interrupt trigger expression must be of bool type...

where do you enable interrupt?

using RESUME you can kill subprogram but not main program (level where interrupt is declared).
why don't you read the manual? there is a nice example and everything is explained. this is also covered in kuka courses.

you must stop advance run pointer from leaving sub that may be aborted by RESUME.

why don't you use CELL.SRC as an example (or working program)?

arunbluez · January 11, 2016 at 5:41 PM

Thanks a lot guys!!!
best forum ever

jaiiyer · March 21, 2024 at 10:19 PM

Also you can use use resume only in interrupt functions and also not in globally defined interrupt functions

jaiiyer · March 21, 2024 at 10:51 PM

Also if you are using BRAKE and RESUME in an interrupt function, the interrupt function has to be called from a subprogram and not from the main program where the interrupt was declared.

P1 declared interrupt P3 (LOCAL)

P1 called P2

Interrupt is switched on in P2

Interrupts calls P3

BRAKE and RESUME in P3

PP returns to P1

P1 declared interrupt P3 (LOCAL)

P1 called P2

Interrupt is switched on in P2

Interrupts calls P3

BRAKE and NO RESUME in P3

PP returns to P2

P1 declared interrupt P3 (GLOBAL)

P1 called P2

Interrupt is switched on in P2

Interrupts calls P3

BRAKE and RESUME in P3 : ERROR

P1 declared interrupt P3 (LOCAL)

Switches on P3

Interrupts calls P3

BRAKE or RESUME: ERROR

P1 declared interrupt P3 (LOCAL)

Switches on P3

Interrupts calls P3

No BRAKE or RESUME causes no error

PP returns to P1

And the reason for making sure the the ARP (advance run pointer) is not leaving the sub that may be aborted by RESUME is to make sure that when the RESUME statement is activated, the advance run pointer must not be at the level where the interrupt was declared, but at least one level lower.

jaiiyer · March 21, 2024 at 10:53 PM

Quote from panic mode

what is STOP_INT? interrupt trigger expression must be of bool type...
where do you enable interrupt?
using RESUME you can kill subprogram but not main program (level where interrupt is declared).
why don't you read the manual? there is a nice example and everything is explained. this is also covered in kuka courses.
you must stop advance run pointer from leaving sub that may be aborted by RESUME.
why don't you use CELL.SRC as an example (or working program)?

"When the RESUME statement is activated, the advance run pointer must not be at the level where the interrupt was declared, but at least one level lower."

what happens if the advance run pointer is at the level higher than where the interrupt was declared?

Thanks

**panic mode** · March 21, 2024 at 11:14 PM

when using RESUME, programmer must ensure that advance run pointer is in the subprogram relative to program level where the interrupt is declared. failure to do so will result in program crash. RESUME command tells KSS to kill anything (subprogram(s)) and return to executing program level at which interrupt is declared (aka "main program" from interrupt perspective). basically "we are done with subprograms, go back and RESUME main program".

but if case advance run pointer managed to get back to "main program" (even though robot is still in a subprogram) the RESUME will try (and fail) to kill that program level (main prog).

suppose you have several programs:

PROG_1() is the top level program and it calls PROG_2() which calls PROG_3() which also calls PROG_4() etc. up to PROG_7().

suppose you declare interrupt inside PROG_3() and the interrupt is triggered while instruction pointer is in the PROG_6()

if your ISR uses RESUME command, all child processes beyond PROG_3() will be abandoned (sorry kiddo...) and program execution will RESUME back at the PROG_3() because that is where interrupt that allowed RESUME was declared. program execution will RESUME at the line that is directly after call to PROG_4().

in fact it does not matter if instruction pointer is in PROG_$() or PROG_5() or PROG_6() or PROG7(). all of them are child processes that ultimately got called from PROG_3(). if plan is to use RESUME, one MUST make sure that interrupt is no longer active when advance run pointer returns to PROG_3()...

jaiiyer · March 22, 2024 at 12:51 AM

Quote

but if case advance run pointer managed to get back to "main program" (even though robot is still in a subprogram) the RESUME will try (and fail) to kill that program level (main prog).

Oh.. thats why... Awesome.. As always thanks a lot...

Clarification for the Command RESUME in a KUKA Program

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