Im haveing a issue with the use of interrupt, tried to search the forum but couldn't find the answer to this specific case.
KSS version: 8.5.6
Robot: KR 120 R3100-2
The problem happens when the program on the robot is stopped either because of operator safety is broken or the robot program is stopped on the KCP. If the trigger signal for the interrupt gets activated while the robot program is stopped, the interrupt will not be triggered before the next motion without approximation or something else stops advance runner.
So this kind of ruins my failsafe, cause I got a machine that the robot works on that isnt ready anymore if the operator safety is broken since it then will loose vacuum, and when starting the cell again we have to do some things on the PLC to make it ready for the robot again. But the robot keeps on going all the way till the advance runner stops and if that occurs the robot would crash with the machine. In my interrupt routine I only have brake signal to stop the robot and a WAIT FOR the machine to be ready again.
When the robot program is running the interrupt works as planned, as soon as we get the signal for the interrupt the robot does exactly as planned and the interrupt routine is called.
So the code on the robot is like this:
Wait for machine ready
Turning interrupt ON
Local home position for machine
Stopping program here, and signal that triggers interrupt occurs.
Approach position for machine
In position for machine (motion without CONT)
Interrupt will be triggered and robot goes into interrupt routine.