Cancel Program and Send Pointer to Cell.

PGG · August 31, 2017 at 10:40 PM

Hello I would like to have the possibiity of restart program of robot from any situation.

In Cell I have a routine to send robot home acording to axis.

I want to send a Signal from PLC to Robot. When Robot reads this signal in SPS makro, I would like to cancel any movement and program, and run cell again. Something similar to "PP to Main" signal in ABB robot.

Thanks!!

**panic mode** · August 31, 2017 at 11:15 PM

To abort program use interrupt.
To get back safely you must develop retract strategies...

**SkyeFire** · September 1, 2017 at 2:40 PM

The SPS (Level 0 interpreter) can manipulate the Level 1 Interpreter ("normal" programs) using CWRITE commands to the $CMD channel. The stock SPS already has some code that does this, and searching the manuals and the forum archives will turn up multiple examples. Basically, the SPS can perform STOP, CANCEL, and SELECT commands, emulating an operator using the FILE menu on the KCP.

That having been said, what you are proposing to do is rather risky -- you can order the robot to cancel the current program stack, and start CELL from the beginning. But this will result in the robot attempting to move directly Home from wherever it is, which creates a serious collision risk. To make this work safely, you will need some sort of conditional safe path(s).

hermann · September 1, 2017 at 9:23 PM

Don't try it with SPS.SUB and cwrite ..... It is much easier.
Try something like that:

Code

def mainprogram()
; GLOBAL INTERRUPT DECL 1 WHEN INPUT_HOMERUN==TRUE DO restart ( )
 INTERRUPT DECL 1 WHEN INPUT_HOMERUN==TRUE DO restart ( )
 interrupt off 1


loop
 mainloop()
  interrupt off 1
endloop
end ; of mainprogram()

Def mainloop()   
 ; Move to home according to actual position
 movetohome()
 loop
 interrupt on 1   ; !!!!!
  ;  make jobs here
  ; this is what cell does normally
  ; ....
 endloop
end ; of mainloop()


Global DEF restart ()
 brake
 interrupt off 1
 wait sec 1
 resume
end

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I have done this in many applications and it works like a charm.

Edit: corrected some faults (because typed it from scratch and by mind).

PGG · September 4, 2017 at 1:32 PM

Thanks both:

First, I'm not an expert with Robots, I'm a PLC programer (not too bad) and sometimes I have to integrate a Robot in my machines; so for every new task I have to study, read forums, and documentation to implement correctly.

About sending robot directly to home. I don't do it. I have a routine that recognize actual possition of robot and sends it to home using a safe path. When I can't identify the correct path, Robot stops, and operator must send manually to home.

* About Interrupt's solution, seems easier, but when I run it, a massage says that is not possible tu use when interruption is declared as global.

* If finally I can't get it with interruptions, I will try sriting on the $CMD Channel

Thanks!!

**panic mode** · September 4, 2017 at 2:59 PM

remove GLOBAL from interrupt declaration... cant use RESUME with global interrupt. also activate interrupt before calling sub

Azermath · September 19, 2017 at 1:12 AM

So to Clarify if to say the Cell looked like this.
DEF cell( )
INIT
BASISTECH INI
CHECK HOME
PTP HOME
Reset_IO()
AUTOEXT INI

;RESTART INTERRUPT
INTERRUPT DECL 1 WHEN bAbort_Program == TRUE DO Restart_Program()
INTERRUPT OFF 1
WAIT SEC 0.12

INTERRUPT ON 1
WAIT SEC 0.12

LOOP

P00 (#EXT_PGNO,#PGNO_GET,DMY[],0 )
SWITCH PGNO ; Select with Program number

CASE 1
P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request

IF $IN_HOME==FALSE THEN
UnknownToHome()
ENDIF

IF $IN_HOME==TRUE THEN
Reset_IO()
endif

CASE 4
P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
IF $IN_HOME==TRUE THEN
Maintenance( )
ENDIF

CASE 7
P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
IF $IN_HOME==TRUE THEN
MasterReference( )
ENDIF

CASE 8
P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
IF $IN_HOME==TRUE THEN
BrakeTest( )
ENDIF

CASE 9
P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
IF $IN_HOME==TRUE THEN
Reset_IO ( )
ENDIF

CASE 10
P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
IF $IN_HOME==TRUE THEN
MAIN JOB
ENDIF

DEFAULT
P00 (#EXT_PGNO,#PGNO_FAULT,DMY[],0 )
ENDSWITCH
ENDLOOP
END

GLOBAL DEF Restart_Program ()

BRAKE
INTERRUPT OFF 1
Wait SEC 1

END

What would the out come be if the program was running a subroutine and i triggered the abort signal?

hermann · September 19, 2017 at 7:41 PM

NO.
The Cell should not look like that.

More like this:

Code

DEF cell( )
INIT
BASISTECH INI
CHECK HOME
PTP HOME 
Reset_IO()
AUTOEXT INI
 
;RESTART INTERRUPT
INTERRUPT DECL 1 WHEN bAbort_Program == TRUE DO Restart_Program()
INTERRUPT OFF 1
WAIT SEC 0.12


loop
 mainloop ()
 interrupt off 1 
 UnknownToHome()         
endloop
END


def Mainloop()
INTERRUPT ON 1
  LOOP

    P00 (#EXT_PGNO,#PGNO_GET,DMY[],0 )


    SWITCH  PGNO ; Select with Program number
    CASE 4
      P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
     IF $IN_HOME==TRUE THEN
     Maintenance( )
     ENDIF

    CASE 7
      P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
      IF $IN_HOME==TRUE THEN
      MasterReference( )
      ENDIF

    CASE 8
      P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
      IF $IN_HOME==TRUE THEN
      BrakeTest( )
      ENDIF

    CASE 9
      P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
      IF $IN_HOME==TRUE THEN
      Reset_IO ( )
      ENDIF

    CASE 10
      P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
      IF $IN_HOME==TRUE THEN
      MAIN JOB
      ENDIF



    DEFAULT
      P00 (#EXT_PGNO,#PGNO_FAULT,DMY[],0 )
    ENDSWITCH
  ENDLOOP
END




GLOBAL DEF Restart_Program ()


BRAKE
INTERRUPT OFF 1
Wait SEC 1
RESUME
END

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Hello guys!

Hermann can I ask that why did you use GLOBAL DEF in cell.src?

Is this the only way to write a program in cell.src?

Moreover, what would happen, if i don't write the program "name" as you do, because i write the full program into case 4.

Code

;Your version:
CASE 4      P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request    
 IF $IN_HOME==TRUE THEN     
 Maintenance( )     
 ENDIF

;My version, for instance:
CASE 4      P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request    
 IF $IN_HOME==TRUE THEN     
 PTP XHOME
 PTP P2
 ; and so on   
 ENDIF

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Is that possible?

I tell yout why is it important for me. I saw your code(which i respondod) and it helped me a lot, but i would like to modify it a little bit.

-> Process is going in a loop cycle.

-> the operator push a virtual button, when would like to modify the parameters.(interrupt off))

-> The PLC got the information and waiting to the robot to end the last cycle.(in the last line interrupt on, and it trigger immediately)

->When the robot would like to start the cycle again, he won't because the program pointer went back here, and wait to the parameters and the start button:

Quote from hermann

loop
mainloop ()
interrupt off 1
UnknownToHome()
endloop
END

Then it starts again.

That's why i would like to write the full program into cell.src

If i just write the program in case 4 like, Robot_program() and in that program i would like to make that interrupt what i mention upper, that wouldn't work.

Any advice please?:)

Thanks in advance!:)

**SkyeFire** · July 30, 2021 at 4:32 PM

Quote from Mate_271

Hermann can I ask that why did you use GLOBAL DEF in cell.src?
Is this the only way to write a program in cell.src?

Back before KSS 5(?), every .SRC file was limited to containing only one routine/function. This routine had the same name as the file. Hence, CELL.SRC starts with DEF CELL.

Later, the ability to add multiple subroutines in a single SRC file was added. But these subroutines were purely "local" -- they could only be called by other routines inside the same .SRC file.

Later still, GLOBAL DEF was added. This made it possible to make any subroutine in any .SRC file globally call-able, from any routine in any .SRC file. This made packaging programs easier.

However, in order to maintain backward compatibility, the "filename routine" still has to be the first routine in the .SRC file, and cannot use GLOBAL DEF. This is because the "filename routine" (DEF CELL() in CELL.SRC, for example), is implicitly Global. Any subroutine in an .SRC file is implicitly local, unless it is explicitly made Global used GLOBAL DEF.

Siimilarly, any variable in $CONFIG.DAT is implicitly Global (and so using DECL GLOBAL must be avoided), but it is now possible to make specific variables in other .DAT files global by explicitly declaring them so.

Quote from Mate_271

Moreover, what would happen, if i don't write the program "name" as you do, because i write the full program into case 4.

That is possible, but generally considered to be a poor practice. Generally, CELL.SRC is intended to have no motions (aside from Home), only calls to various motion routines. Placing motion paths inside a particular CASE inside CELL makes CELL harder to maintain, and less modular.

Mate_271 · July 30, 2021 at 5:05 PM

Wow SkyeFire I really appreciate your detailed informations what you give to me!:)

Then i thought correctly, thanks for the confirmation:)

If you don't mind i would like to ask one question about the upper program what i commented.

Is it possible to write a declaration as GLOBAL INTERRUPT DECL 5 in cell. src like hermann did here:

Quote from hermann

DEF cell( )
INIT
BASISTECH INI
CHECK HOME
PTP HOME
Reset_IO()
AUTOEXT INI

;RESTART INTERRUPT
INTERRUPT DECL 1 WHEN bAbort_Program == TRUE DO Restart_Program()
INTERRUPT OFF 1
WAIT SEC 0.12
;GLOBAL INTERRUPT DECL 5 WHEN bAbort_Program == TRUE DO Restart_Program()
;GLOBAL INTERRUPT OFF 5
;and so on

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And after that, in the local .src i write in the lines an INTERRUPT ON 5?

DEF ROBOT_MAIN_PRG()

INI

PTP XHOME
PTP P1

PTP P2

and so on

INTERRUPT ON 5

END

And in the cell.src:

Quote from hermann

GLOBAL DEF Restart_Program ()

BRAKE
GLOBAL INTERRUPT OFF 5
Wait SEC 1
RESUME
END

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Is this fine then?

**SkyeFire** · July 30, 2021 at 5:58 PM

I think Hermann's code is okay, except that I don't think it's correct to use "GLOBAL" for an INTERRUPT OFF or INTERRUPT ON command -- IIRC, you only use GLOBAL on an Interrupt for the INTERRUPT DECL line.

I could be wrong, though, it's been a while.

Interrupts are "inherited", unless DECL'd GLOBALly. That is, an Interrupt DECL'd in one routine is "accessible" to any subroutine in the stack below the routine that DECL'd the Interrupt. But not accessible "laterally".

hermann · July 30, 2021 at 6:40 PM

Yes you shouldn't use the GLOBAL statement. Just leave it out.

Mate_271 · July 31, 2021 at 8:45 AM

Ohh wow, thanks you.

The end of the code is mine addition, hermann did everything correct!😊

So, it looks like i can use it!

Thank you very much guys!:)

Mate_271 · August 25, 2021 at 9:51 AM

Quote from hermann

NO.
The Cell should not look like that.

Cancel Program and Send Pointer to Cell.

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