How to interupt a subprogram when robot is moving in a interupt subprogram?

AndreaLu · May 30, 2019 at 3:59 AM

i have a code,simplified here:

Code

DEF FinalXMLCMD( )
BAS (#INITMOV,0 )


$BWDSTART = FALSE
PDAT_ACT = {VEL 15,ACC 30,APO_DIST 50}
FDAT_ACT = {TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE}
BAS (#PTP_PARAMS,10)
PTP  {A1 20, A2 -70, A3 132, A4 24, A5 -64, A6 29, E1 0, E2 0, E3 0, E4 0}
$VEL.CP=0.25
$APO.CDIS=1.5
$ADVANCE=0 


PTP {E6POS: X 431.593, Y -203.802, Z 223.299, A 0, B 90, C 0, E1 0, E2 0, E3 0, E4 0, S 'B 110'} C_PTP
LIN {E6POS: X 431.593, Y -203.802, Z 223.299, A 0, B 90, C 0, E1 0, E2 0, E3 0, E4 0} C_DIS


RET=EKI_Init("FinalXMLCMD")
RET=EKI_Open("FinalXMLCMD")
EKI_CHECK(RET,#QUIT)
INTERRUPT DECL 89 WHEN $FLAG[998]==TRUE DO InterMove()


WHILE GIsLoop
    INTERRUPT ON 89
    MyWait()
    INTERRUPT OFF 89
ENDWHILE


RET=EKI_Close("FinalXMLCMD")
RET=EKI_Clear("FinalXMLCMD")
END
;;=======================================
DEF MyWait()
 WAIT SEC 0.1
END
;;=======================================
DEF InterMove()
FRAME valueFrame 
valueFrame={X 0.0,Y 0.0,A 0.0,B 0.0,C 0.0}
$FLAG[998]=FALSE


brake
valueFrame.Z=100
LIN_REL valueFrame
resume 


WAIT SEC 0
END

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when i make flag998 true(by send xml to robot),the robot will move up 100mm(it takes maybe 2 seconds),and when robot finish moving(it means i must wait 2 seconds later),when the robot is stop,then i send another xml to robot to make flag998 on,the robot will move another 100mm in Z,it is as i expected.no problem.
but......if i send another xml before robot finishing moving up 100mm(i hope to brake the previous Z moving,and begin a new 100mm up),the robot will still moving untill the previous 100mm up moving is finished,then,robot will not go another 100mm up moving,and stop there refuse to moving any more(even i send xml to make flag998 true,robot will no move again...)......(so the only thing i can do is to restart the src file)
any one can help?thank you very much!

**panic mode** · May 30, 2019 at 3:44 PM

if you want to interrupt running robot program and let it do something else, use interrupt.
only thing that can interrupt running interrupt program, is another interrupt - with higher priority

verove · May 30, 2019 at 6:01 PM

Hi AndreaLu,

I'm going to assume you have a KRC4 with KSS8.3 or similar.

I think one of your issues is that you're using a BRAKE command and there is no RESUME. Since you haven't turned off the interrupt while the InterMove routine is running, the interrupt can be triggered again (mid-path). The BRAKE command carries out the last InterMove you have, but does not resume any of the previous paths or routines.

Check the Expert Programming manual to see how INTERRUPT, BRAKE and RESUME can be used together.

Hope that helps.

**SkyeFire** · May 30, 2019 at 6:18 PM

Also, make sure to look at Interrupt numbers in the manual -- there are certain ranges reserved for the operating system. I think 1-8 or 1-10 are available (lower number = higher priority), but oftentimes Interrupt 3 is taken up by the stock Interrupt for calling IR_STOPM during an E-Stop. And certain KUKA Tech Packages can take up other Interrupts. So you'll need to manage your numbers carefully.

AndreaLu · May 31, 2019 at 3:19 AM

Quote from veronicav

Hi AndreaLu,

I'm going to assume you have a KRC4 with KSS8.3 or similar.

I think one of your issues is that you're using a BRAKE command and there is no RESUME. Since you haven't turned off the interrupt while the InterMove routine is running, the interrupt can be triggered again (mid-path). The BRAKE command carries out the last InterMove you have, but does not resume any of the previous paths or routines.

Check the Expert Programming manual to see how INTERRUPT, BRAKE and RESUME can be used together.

Hope that helps.

Veronica,i do have resume ,and as you told me ,i add "INTERRUPT OFF 89"at the InterMov,but also the problem exist.......

hermann · May 31, 2019 at 10:03 PM

Can't recognize the meaning of the program, but try:

Code

DEF FinalXMLCMD( )


BAS (#INITMOV,0 )


$BWDSTART = FALSE
PDAT_ACT = {VEL 15,ACC 30,APO_DIST 50}
FDAT_ACT = {TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE}
BAS (#PTP_PARAMS,10)
PTP  {A1 20, A2 -70, A3 132, A4 24, A5 -64, A6 29, E1 0, E2 0, E3 0, E4 0}
$VEL.CP=0.25
$APO.CDIS=1.5
$ADVANCE=0


PTP {E6POS: X 431.593, Y -203.802, Z 223.299, A 0, B 90, C 0, E1 0, E2 0, E3 0, E4 0, S 'B 110'} C_PTP
LIN {E6POS: X 431.593, Y -203.802, Z 223.299, A 0, B 90, C 0, E1 0, E2 0, E3 0, E4 0} C_DIS


RET=EKI_Init("FinalXMLCMD")
RET=EKI_Open("FinalXMLCMD")
EKI_CHECK(RET,#QUIT)
$FLAG[998]=false
INTERRUPT DECL 89 WHEN $FLAG[998]==TRUE DO InterMove()


WHILE GIsLoop
    if not $flag[998] then   ; No Interrupt active --> wait for interrupt
     MyWait()
     ; program comes back here after resume
    endif
    if $flag[998] then  ; to prevent moving after GIsLoop is false
     my_move()
     ; program comes back here after finished movement with $flag not set
     ; program comes back here after resume if interrupt occurs during movement, with $flag set
    endif
ENDWHILE


RET=EKI_Close("FinalXMLCMD")
RET=EKI_Clear("FinalXMLCMD")
END


;;=======================================


DEF MyWait()
 INTERRUPT ON 89
 loop
  WAIT SEC 0.1
 endloop
END


def my_move()
  FRAME valueFrame
    $FLAG[998]=FALSE
    valueFrame={X 0.0,Y 0.0,A 0.0,B 0.0,C 0.0}
    valueFrame.Z=100
    LIN_REL valueFrame
end
;;=======================================


DEF InterMove()
 interrupt off 89
 brake 
 wait sec 0
 resume
END
[code]

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AndreaLu · June 17, 2019 at 6:06 AM

Quote from hermann

Can't recognize the meaning of the program, but try:

Code

DEF FinalXMLCMD( )


BAS (#INITMOV,0 )


$BWDSTART = FALSE
PDAT_ACT = {VEL 15,ACC 30,APO_DIST 50}
FDAT_ACT = {TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE}
BAS (#PTP_PARAMS,10)
PTP  {A1 20, A2 -70, A3 132, A4 24, A5 -64, A6 29, E1 0, E2 0, E3 0, E4 0}
$VEL.CP=0.25
$APO.CDIS=1.5
$ADVANCE=0


PTP {E6POS: X 431.593, Y -203.802, Z 223.299, A 0, B 90, C 0, E1 0, E2 0, E3 0, E4 0, S 'B 110'} C_PTP
LIN {E6POS: X 431.593, Y -203.802, Z 223.299, A 0, B 90, C 0, E1 0, E2 0, E3 0, E4 0} C_DIS


RET=EKI_Init("FinalXMLCMD")
RET=EKI_Open("FinalXMLCMD")
EKI_CHECK(RET,#QUIT)
$FLAG[998]=false
INTERRUPT DECL 89 WHEN $FLAG[998]==TRUE DO InterMove()


WHILE GIsLoop
    if not $flag[998] then   ; No Interrupt active --> wait for interrupt
     MyWait()
     ; program comes back here after resume
    endif
    if $flag[998] then  ; to prevent moving after GIsLoop is false
     my_move()
     ; program comes back here after finished movement with $flag not set
     ; program comes back here after resume if interrupt occurs during movement, with $flag set
    endif
ENDWHILE


RET=EKI_Close("FinalXMLCMD")
RET=EKI_Clear("FinalXMLCMD")
END


;;=======================================


DEF MyWait()
 INTERRUPT ON 89
 loop
  WAIT SEC 0.1
 endloop
END


def my_move()
  FRAME valueFrame
    $FLAG[998]=FALSE
    valueFrame={X 0.0,Y 0.0,A 0.0,B 0.0,C 0.0}
    valueFrame.Z=100
    LIN_REL valueFrame
end
;;=======================================


DEF InterMove()
 interrupt off 89
 brake 
 wait sec 0
 resume
END
[code]

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Thank you Hermann,i have tried your program,it works nice,and i can send another xml to robot even robot is runing in a interrupt method.after the previous interrup method has finished,immediatelly robot can run another 100 mm.
but another request is,I really want to interrupt(means stop) a running interrupt method and to begin a new interrupt(also by xml),it means when the previous interrupt is running(maybe in Z-up 60mm),i send a new xml,and the robot can immediately stop robot,and make a 100mmZ-up?(it means in the final the robot total Z-up is 160mm),how to write the code,thank you very much!

hermann · June 20, 2019 at 2:32 PM

You can realize that with inserting
INTERRUPT ON 89
in the routine my_move() just right after the line
$FLAG[998]=FALSE

How to interupt a subprogram when robot is moving in a interupt subprogram?

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