Hi everybody!
I post my first topic on this usefull forum. I have read many topics, but I did'nt find the answer to my problem...
I just want to freeze the robot movments when I push a "Stop button" and let the robot continue when I release it.
To do so I declare an interrupt with a BRAKE F instruction and WAIT FOR (StopButton==FALSE). Pretty simple...
The interrupt triggers and it works very well.
But in one case the interrupt triggers and resume instantly (0,5 s). This case happens when the robot is executing two CIRC in a row.These two CIRC are made with same points, they are just inverted (AUX / END become END / AUX in the second CIRC). During the second CIRC motion, it's impossible to make the intterupt works, I have to wait the end of the motion
The only solution I have found to solve that strange problem is to insert a PTP $POSACT between the two CIRC
Someone has already encountered this problem ?
This is a KRC2 robot KR150.
I apologize for my approximate english