Hi everybody,
I am trying to realize a search function with my KR10 R1000 / KR C4 compact KSS 8.3
The robot is supposed to move over the work object, perform a touch run in z direction and use the "measured" value later.
When the touch sensor is triggered a digital input is set, which triggers a interrupt routine.
This interrupt is supposed to stop/cancel the search movement and save the triggered position.
I found a simple example for this process at the KSS system integrator manual at chapter 11.10.4. .
In my program the search move is done in a deeper level subroutine.
Using the Resume command to cancel the search movement, stops also all my subroutines back to the main level.
Does anybody know a "clean" way to do such a search ?
Or a different command to just cancel the last movement or just one subroutine ?
Thanks for your help and have a nice weekend !