LIN_Suchen in KRC

T-Bjorn · September 17, 2018 at 9:19 AM

Hello, please quys, how is possible to do in KRC something like LINSUCHEN in VKRC ( Lin movement which slows and stops depending on digital input ) ?
I need it for measurement purposes .
Thanks for answers.

Mr.E · September 17, 2018 at 10:06 AM

you could do it with interrupts or use TouchSense

T-Bjorn · September 17, 2018 at 10:13 AM

I need to find out how this works, but i need that robot after that input make som logical circuit(fold) and after that moves to the next point .

**SkyeFire** · September 17, 2018 at 4:00 PM

Your description of what you need is not very clear, I'm afraid.

For simple Search motions, you need to build a set of subroutines, making use of Interrupts, and the BRAKE and RESUME commands.

This thread may be of assistance: https://www.robot-forum.com/robotforum/kuk…re-for-resume)/

T-Bjorn · September 18, 2018 at 11:53 AM

Thanks for answer, now i know how to do it with interrupt, but there is other problem. In program you can have only 32 interrupts
and i need it for every measured point for example : when DI (62) = FALSE move to next point ; or something like that, every time i need only to move to next movement command ...
I checked out KUKA expert manuals, but i cant find suitable solution for that...

**SkyeFire** · September 18, 2018 at 2:21 PM

I don't understand. Why would you need more than 32 Interrupts, and why would you need them all active at the same time?

LIN_Suchen in KRC

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