interrupt in the interrup trajectory program

watchcat · July 24, 2020 at 1:05 PM

Hello,

i have an issue with my programs: if i call an interrupt during execution of another interrupt program, after coming back to first interrupt pointer moves one line. I checked it on KSS V8.3.28 and KSSV8.6.5 and it behaves the same. I have a structure:

main_program:

sub_program in loop

interrupt to call loading trajectory "StopAndGoToMagazine"

interrupt to stop the robot with PLC HMI stop button "halt_robot"

Robot runs main_program and then subprogram, at any point an interrupt can open trajectory "StopAndGoToMagazine", meanwhile operator can also press button to stop the robot and interrupt "halt_robot" can be called. When conditions are met and start is send, robot leaves interrupt "halt_robot" but it goes to NEXT line of "StopAndGoToMagazine"

Code

DEF mainProgram( )
   ;FOLD INIT
      DECL CHAR DMY[3]
      DMY[]="---"
   ;ENDFOLD (INIT)  
   ;FOLD BASISTECH INI
      init_user=FALSE
      FileInit()
   ;ENDFOLD (BASISTECH INI)
   LOOP
      Interr_StopRob_ON()
      subprogram()
   ENDLOOP 
END

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Subprogram:

Code

DEF subprogram( )
 ;FOLD INI;%{PE}
      ;FOLD BASISTECH INI
         FileInit()
      ;ENDFOLD (BASISTECH INI)
      ;FOLD USER INI
         ;Make your modifications here
         wait for ($cycflag[NrInterruptLoadMag]==FALSE)
         INTERRUPT DECL NrInterruptLoadMag   WHEN $cycflag[NrInterruptLoadMag]==TRUE  DO StopAndGoToMagazine() 
         INTERRUPT ON NrInterruptLoadMag
      ;ENDFOLD (USER INI)
   ;ENDFOLD (INI)
WAIT sec 1 
;FOLD PTP P1 Vel=100 % PDAT1 Tool[1]:szpikulec1 Base[0];%{PE}%R 8.3.42,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P1, 3:, 5:100, 7:PDAT1
$BWDSTART=FALSE
PDAT_ACT=PPDAT1
FDAT_ACT=FP1
BAS(#PTP_PARAMS,100)
PTP XP1 
;ENDFOLD
;FOLD PTP P2 Vel=100 % PDAT2 Tool[1]:szpikulec1 Base[0];%{PE}%R 8.3.42,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P2, 3:, 5:100, 7:PDAT2
$BWDSTART=FALSE
PDAT_ACT=PPDAT2
FDAT_ACT=FP2
BAS(#PTP_PARAMS,100)
PTP XP2 
;ENDFOLD
;FOLD PTP P3 Vel=100 % PDAT3 Tool[1]:szpikulec1 Base[0];%{PE}%R 8.3.42,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P3, 3:, 5:100, 7:PDAT3
$BWDSTART=FALSE
PDAT_ACT=PPDAT3
FDAT_ACT=FP3
BAS(#PTP_PARAMS,100)
PTP XP3 
;ENDFOLD



END

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interrupt with movements :

Code

DEF StopAndGoToMagazine( )
   INTERRUPT OFF NrInterruptLoadMag
   PTP {A6 -230}
   PTP {A6 -200}    
   PTP {A5 -55}
   ;loading magazine
   PTP {A6 -200}  
   PTP {A6 -230}
   wait for ($cycflag[NrInterruptLoadMag]==FALSE) 
   INTERRUPT ON NrInterruptLoadMag
   wait sec 0.2
END

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interrupt to stop robot:

Code

global DEF halt_robot()
   INTERRUPT OFF NrInterrruptStopRob
   BRAKE
   HALT
   WAIT FOR (SignalToStopRob)
   WAIT SEC 0.1  
   INTERRUPT ON NrInterrruptStopRob
end

and additional definitions:

Code

GLOBAL DEF FileInit()
   CONTINUE
   IF ( not init_user) THEN
      ;FOLD BASISTECH INI
         GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
         INTERRUPT ON 3 
         BAS (#INITMOV,0 )
      ;ENDFOLD (BASISTECH INI)  
      ;FOLD USER INI
         Init_interrupt()
      ;ENDFOLD (USER INI)
      init_user=TRUE        
      UstawPredkosc(v_ostatnia)
      ptp $POS_ACT
   ENDIF
END


GLOBAL DEF Init_interrupt()
   InitStopRob_defined = FALSE 
END

GLOBAL DEF Interr_StopRob_ON()
   IF (InitStopRob_defined==FALSE) THEN      
      GLOBAL INTERRUPT DECL NrInterrruptStopRob   WHEN $cycflag[NrInterrruptStopRob]==FALSE  DO halt_robot()       
      InitStopRob_defined = TRUE 
   ENDIF
   wait for ($cycflag[NrInterrruptStopRob]==true)
   INTERRUPT ON NrInterrruptStopRob  
END

GLOBAL DEF Interr_StopRob_OFF()
   IF (InitStopRob_defined==TRUE) THEN    
      INTERRUPT OFF NrInterrruptStopRob    
   ENDIF
END

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Sounds maybe complicated but all is about calling an interrupt during execution of another interrupt. Why coming back from second interrupt to fist one, that was called, makes current line to be change into next one?

**SkyeFire** · July 24, 2020 at 3:48 PM

By "goes to next line," do you mean that the robot does not complete the active PTP move in StopAndGoToMagazine()?

watchcat · July 24, 2020 at 8:34 PM

if robot does interrupt program :

Code

DEF StopAndGoToMagazine( )

   INTERRUPT OFF NrInterruptLoadMag
   PTP {A6 -230}
   PTP {A6 -200}    
   PTP {A5 -55}

and it is on the line PTP {A6 -230} , line 4 ,(I can make override to zero to make sure it will not reach the point, and physically robot is really in position on traj to point a6 -230) then I can make interrupt "halt_robot" to happen, program stops after line with halt, start it again, WAIT FOR (SignalToStopRob) and when it is True, robot comes back to StopAndGoToMagazine but to the line 5. I can do that with override zero and it will "finish" whole program not even moving a bit..

**panic mode** · July 24, 2020 at 11:39 PM

this is not going to do what you expected and ... it is not even close to what program structure should be,

in fact it is not even using key instructions etc. so why not read literature and stick to design templates (examples in manuals or on this forum)?

watchcat · July 25, 2020 at 12:16 AM

what do you exactly mean that the program is not working and doesn't have a correct structure? It works, stops, reloads magazine and so on. Generally program runs as it should, station works. I cut some parts to make it more concentrated on the main issue, which are the interrupts.

I did read the literature several times, have some years of experience with all different brands of robots. Kuka has too many limitations and therefore reacquires some additional "tricks". I am writing here 'cos I want to improve if there is possibility. How would you implement it then? And why the program pointer is "jumping" ?

**panic mode** · July 25, 2020 at 12:33 AM

my bad, did not read through. this is only used to stop/pause interrupt, not abort the task.

watchcat · July 30, 2020 at 6:27 PM

indeed , it was for physically stopping the robot.

Does anyone know what stands behind this behavior of the interrupts ? is there any way to solve the issue ?

**panic mode** · July 30, 2020 at 10:05 PM

Quote from watchcat

Hello,
i have an issue with my programs: if i call an interrupt during execution of another interrupt program...

are you sure that both interrupts have different priority?

Quote

Robot runs main_program and then subprogram, at any point an interrupt can open trajectory "StopAndGoToMagazine"

not quite... main program loops but interrupt is declared in a subprogram. if pointer is in the main program, this interrupt should not work.

as mentioned before, shown program structure is very ... unusual. and hard to follow. also it is unclear how cycle flag is programmed and when

interrupts are constantly re-declared inside the same loop where they are supposed to do something - which is likely your issue. i would not expect or count on KRC to still remember relevant events after interrupt is re-declared.

i would declare them in one place - before loop, and then just activate and deactivate as needed.

watchcat · July 31, 2020 at 9:24 PM

Thank you for feedback. I have just check it and declared it in main program at the very begging . It didn't change the behavior.

I simplified the programs to make it easier to read.

Main program only declares interrupts and call subprogram

Code

DEF TEST2_mainProgram( )

   ;FOLD INI;%{PE}

      ;FOLD BASISTECH INI

         GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )

         INTERRUPT ON 3 

         BAS (#INITMOV,0 )

      ;ENDFOLD (BASISTECH INI)

      ;FOLD USER INI

         ;Make your modifications here

         wait for ($cycflag[17]==FALSE)

         GLOBAL INTERRUPT DECL 17   WHEN $cycflag[17]==TRUE  DO StopAndGoToMagazine() 

         wait for ($cycflag[5]==true)

         GLOBAL INTERRUPT DECL 5   WHEN $cycflag[5]==FALSE  DO halt_robot()               

      ;ENDFOLD (USER INI)

   ;ENDFOLD (INI)

   LOOP

      INTERRUPT ON 5

      TEST2_subprogram()

   ENDLOOP 

END

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Subprogram turns on interrupt and moves on the trajectory

Code

DEF TEST2_subprogram( )

   ;FOLD INI;%{PE}

      ;FOLD BASISTECH INI

         GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )

         INTERRUPT ON 3 

         BAS (#INITMOV,0 )

      ;ENDFOLD (BASISTECH INI)

      ;FOLD USER INI

         ;Make your modifications here

         INTERRUPT ON 17

      ;ENDFOLD (USER INI)

   ;ENDFOLD (INI)

   

   WAIT sec 1 

   

   ;FOLD PTP P1 Vel=100 % PDAT1 Tool[1]:szpikulec1 Base[0];%{PE}%R 8.3.42,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P1, 3:, 5:100, 7:PDAT1

      $BWDSTART=FALSE

      PDAT_ACT=PPDAT1

      FDAT_ACT=FP1

      BAS(#PTP_PARAMS,100)

      PTP XP1 

   ;ENDFOLD

   ;FOLD PTP P2 Vel=100 % PDAT2 Tool[1]:szpikulec1 Base[0];%{PE}%R 8.3.42,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P2, 3:, 5:100, 7:PDAT2

      $BWDSTART=FALSE

      PDAT_ACT=PPDAT2

      FDAT_ACT=FP2

      BAS(#PTP_PARAMS,100)

      PTP XP2 

   ;ENDFOLD

   ;FOLD PTP P3 Vel=100 % PDAT3 Tool[1]:szpikulec1 Base[0];%{PE}%R 8.3.42,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P3, 3:, 5:100, 7:PDAT3

      $BWDSTART=FALSE

      PDAT_ACT=PPDAT3

      FDAT_ACT=FP3

      BAS(#PTP_PARAMS,100)

      PTP XP3 

   ;ENDFOLD
END

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interrupt program didn't changed :

Code

global DEF halt_robot()

   INTERRUPT OFF NrInterrruptStopRob

   BRAKE

   HALT

   WAIT FOR (SignalToStopRob)

   WAIT SEC 0.1  

   INTERRUPT ON NrInterrruptStopRob

end

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magazine loading didn't changed

Code

DEF StopAndGoToMagazine( )
   INTERRUPT OFF 17
   PTP {A6 -230}

   PTP {A6 -200}    

   PTP {A5 -55}

   ;loading magazine

   PTP {A6 -200}  

   PTP {A6 -230}

   wait for ($cycflag[17]==FALSE) 

   INTERRUPT ON 17

   wait sec 0.2

   

END

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Still if I make interrupt to halt the robot , it behaves like expected: calls the interrupt program and when start is pressed again it waits for flag and comes back to subprogram, and pointer is exactly at the like when interrupt happen.

If I make conditions for "halt_robot" during loading of magazine (interrupt with movements) , when start is pressed again, it waits for flag and comes back to magazine trajectory, but pointer goes one more line.

**panic mode** · August 1, 2020 at 1:57 AM

you did not answer my questions so it is still a mystery how and where some of the things are declared and initialized, including cycle flags.

you are using one flag as a condition to pause program, but ....

you are using different one inside the ISR to keep BRAKE statement active.

this makes no sense. they should be the same thing, otherwise BRAKE statement may still be active after program is paused. basically stuck in ISR forever

if you are using $cycflag[5] as "keep running" then, triggering pause like this would make sense:

GLOBAL INTERRUPT DECL 5 WHEN $cycflag[5]==FALSE DO halt_robot()

but then, in the ISR called halt_robot() i would expect to see

WAIT FOR $cycflag[5] ; keep robot program paused until ready to continue running. when $cycleflag[5] is on, ISR program ends and BRAKE command in that ISR is no longer active.

but ...you have there:

WAIT FOR (SignalToStopRob) ; if SignalToStopRob is FALSE even after $CYCFLAG[5] is true, robot will be stuck in ISR and .... well... pause will still be active.

again this is one possible scenario, more info may be needed to really find out the problem.

hermann · August 1, 2020 at 7:37 AM

Can you see the issue on the movement? Or do you only see the program pointer jumping?

Think it's not easy to see the issue with the actual movements, you have to stop the robot during PTP {a6 - 55} otherwise there is no difference in the movement weather the pointer jumps or not.

I'm asking because during interrupts the screen doesn't always show the correct position of the program pointer.

watchcat · August 3, 2020 at 4:38 PM

it changes also the movements , it would collide because of that ..

regarding flags they are in sps:

$CYCFLAG[5] = SignalToStopRob

$cycflag[17]= Signal2LoadMagazine

both are signals from PLC (but it bahaves the same way if I use it as veriables) . PLC don't send the signal and robot stops, then PLS resends the signal, starts the robot and I only check it for sure if the signal is really on .

interrupt in the interrup trajectory program

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