Hi from Portugal
I'm programming a KR16 with KRC4.
Exist any way to move backward in EXT mode as the button in kuka console?
I want to move kuka backward to a safe position without crash when the emergency button is pressed.
Many Thanks
Hi from Portugal
I'm programming a KR16 with KRC4.
Exist any way to move backward in EXT mode as the button in kuka console?
I want to move kuka backward to a safe position without crash when the emergency button is pressed.
Many Thanks
No, In order to do that you need to develop your own strategy to safely return to a safe position without crashing.
We do this on my own. We genearte a main program and 1 sub program. Main program will have interupt function and reverse path points. Sub program will have actual program of operation. In sub program we switch on flag for each path. So when interuppt occurs we know on which path robot was at the time of interrupt. So in main program accordingly return path will run. We have implemented this successfully in more that 20 robot cells. Running fine since last few years. If you need sample program just mail me on devendra(dot)r(dot)jain(@)gmail(dot)com
DEF Main()
INTERRUPT DECL 20 WHEN $IN[1]==TRUE Do ABORT1 ()
PTP HOME
PTP HOME1
IF ($FLAG[1]==FALSE) THEN
INTERRUPT ON 20
CYCLE1()
INTERRUPT OFF 20
ENDIF
IF (($IN[1]==TRUE) OR ($FLAG[1]==TRUE)) THEN
IF ($FLAG[11]==TRUE) THEN
PTP HOME1
PTP HOME
$FLAG[1] = FALSE
$OUT CYCLE ABORTED PULSE 1 SEC
ENDIF
IF ($FLAG[12] = TRUE) THEN
LIN P1
PTP HOME1
PTP HOME
$FLAG[1] = FALSE
$OUT CYCLE ABORTED PULSE 1 SEC
ENDIF
IF ($FLAG[13] = TRUE) THEN
LIN P2
LIN P1
PTP HOME1
PTP HOME
$FLAG[1] = FALSE
$OUT CYCLE ABORTED PULSE 1 SEC
ENDIF
ENDIF
DEF ABORT1()
INTERRUPT OFF 20
BRAKE F
$FLAG[1]=TRUE
WAIT SEC 0.1
resume
END
DEF CYCLE1()
HOME1
$FLAG[11]=TRUE
LIN P1
$FLAG[11]=FLASE
$FLAG[12]=TRUE
LIN P2
$FLAG[12]=FALSE
$FLAG[13]=TRUE
LIN P3
LIN P2
$FLAG[13]=FALSE
$FLAG[12]=TRUE
LIN P1
$FLAG[12]=FALSE
$FLAG[11]=TURE
PTP HOME1
$FLAG[11]=FALSE
END