Hello Guys..
I am new to KUKA Robot Programming. Just wanted to implement interrupts for a project and facing issue in that. I have referred to the KUKA manuals but nowhere I got any reference about how to declare interrupt in cell.src code. As I have a common interrupt for all my cases, so I just wanted to declare it in the cell.src code. I have currently used the standard syntax of the interrupt and declared it in the cell.src code.
My task is that while the robot is doing gluing if the operator presses pause, a timer starts in the plc and after some time one output is triggered. After the output is triggered, the robot should move into interrupt program and record the current position of the robot, then it should move to home position and do purging( take out some glue) and come back at the same point from where it was when the interrupt was triggered.
I am facing this issue currently:- When the corresponding output triggers an error named Instruction Inadmissible generates. I have attached an image of my cell.src code.
Please kindly help me..