Kuka Searching Interrupt

Mahmut ERKEN · June 7, 2021 at 2:28 PM

Hi everyone,

I have KUKA KRC4-8.6.4 Robot and Siemens S7-1200 PLC. My WorkVisual version is V6.0.16.

I have a problem about searching interrupt. I wrote searching interrupt and it has worked good but If the interrupt did not find the product at the end, I want to generate an error message and stop the running program. After this, I want to start searching interrupt program again.

How can I do this ?

I would be very happy if you help

Code

$CYCFLAG[1]=PulTuttum
INTERRUPT DECL 10 WHEN $CYCFLAG[1] DO StopSearch()
INTERRUPT OFF 10

         BefPickPul.X = 0
         BefPickPul.Y = 0
         BefPickPul.Z = 600
         BefPickPul.A = 180
         BefPickPul.B = 0
         BefPickPul.C = -180



b_partfound=FALSE
$ADVANCE=0
INTERRUPT ON 10

  SearchPart()

INTERRUPT OFF 10  
$ADVANCE=1


  IF b_partfound THEN 
    iFoundProdNo = iFoundProdNo + 1 
  
  ELSE
     iNotFoundProdNo = iNotFoundProdNo + 1
     fault(40)
     PulTut = FALSE
   
  ENDIF


CONTINUE
END
DEF SearchPart()

         BefPickPul.X = 0
         BefPickPul.Y = 0
         BefPickPul.Z = 0
         BefPickPul.A = 180
         BefPickPul.B = 0
         BefPickPul.C = -180
         MotionParams(#Linear,0.1,100,100,1,11)
         PickPul = BefPickPul
         PickPul.Z = 400 
         LIN PickPul C_DIS
         
END
DEF StopSearch()
INTERRUPT OFF 10
BRAKE 


b_partfound=TRUE
PartPos=$POS_INT
RESUME

END

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Koppel · June 7, 2021 at 2:49 PM

I have done that before.

Basically the Search is inside a REPEAT ... UNTIL

Code

REPEAT
SearchSomething()

    IF $IN[10]==FALSE THEN        ;sensor telling that grabbing was not successful
    PTP SearchStart                ;Go back to the beginning
        $OUT[19]=TRUE             ;tell PLC there was a problem       
        WAIT FOR $IN[17]            ;Wait signal from PLC to try again    
         $OUT[19]=FALSE             ;stop telling there was a problem
    ENDIF
UNTIL $IN[10] == TRUE

Mahmut ERKEN · June 7, 2021 at 2:52 PM

Thanks for reply Koppel .

How can I integrate your code into my interrupt program ? Do you have any idea about this ?

Because, I am thinking that interrupt is more healthier ..

**panic mode** · June 7, 2021 at 4:45 PM

b_PartFound=False

REPEAT

; .... your search...

UNTIL b_PartFound==TRUE

**SkyeFire** · June 8, 2021 at 12:01 AM

Interrupt Example

As Panic says, the Advance Run Pointer must be prevented from returning to the level where the Interrupte was DECL'd before the Interrupt is fired. So the "search" routine must usually end with a WAIT SEC 0 or something similar to break the ARP.

Kuka Searching Interrupt

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