iiwa LBR 14 R820 IO modules and User defined keys

Hi,

i do have a couple of questions if anyone can help me please:

1- currently i have an LBR iiwa 14 R820 connected through a profinet to a third party software and computer that monitors movement and reactions from the robot and errors as well. the problem is that i don't have the third party source code to control the output from the robot. what i'm trying to do is obtaining outputs for specific errors from the robot and outputting them directly to the PLC or another HMI. what kind of IO modules/card that i can buy to accomplish so and at the same time keep the existing IOs? note: i already setup the IO inside workvisual and setup the xml in sunrise.

2- i did define a user key to make the robot go home but the problem is that i don't know how to override the current running line of code so i can force the robot to go home, is there like a break command that stops the robot from what's it doing or stop the code then when i press home it will go home regardless?

3- does the smartpad for the iiwa lbr 14 r820 allow you to create a frame and an end frame? i can create frames easily but i can't create end frames or connect points together to make for example a complete movement, is there a way i can do so? i do see the magnifying glass that should points to the end frame but i don't see anything in the manual that shows how to create a complete movement like 2-3 points within one frame....like one frame that goes from point 1 to 2 then to 3 then back to 1 for example?

Thanks,

Appreciate your help

Quote from kiiwa

If you're using Profinet/Ethercat you don't need additional IO cards, they are supported natively on IIWA. Now, you need to know what signals are you sending and interpret them on the PC side.

There's "breakwhen" that you can use with a ForceCondition or listeners for other events.

You can create only one point/frame using the smartPad. A motion isn't defined by its Start and End points, but by the end point as you can go to the point with different types of motions independently from your start positions. If you want to create a path from a set of points look up "Spline motion type" in the manual or use MoveAsync instead of Move.

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Thanks for the reply:

1 - the pc is third party and i don't have any access on it, i can't even modify the code. i did setup the inputs from the workvisual and sunrise but i don't have anything to receive them on or control them...like a .NET framework or something because it's a third party software so i wanted to use another IO card to be able to manipulate the IOs.

2- so i will have to add breakwhen to every move condition in order to shut the program or reset to point zero, i mean there's no go to begining for example like C++ or system.exit?

3 - so the smartpad doesn't allow continuous motion and a code has to be written in order to complete a frame am i right?

Can you please explain how to include a keyevent inside a breakwhen() somehow it doesn't accept any arguments.

thanks