TRIGGER WHEN DISTANCE and SLIN MOVEMENT

IlFincoITA · July 8, 2021 at 6:04 AM

Hi! Is it possible that TRIGGER WHEN DISTANCE written before a single SLIN movement beave in a different way as if the TRIGGER was writte before a single LIN movement?

In othe words if a write this:

TRIGGER WHEN DISTANCE=1 deLAY=0 DO CloseMold=TRUE

SLIN Out_Mold VEL = 2 m/s

Is it possible that "CloseMold" is set to TRUE before the Robot reaches OutL_Mold position? and not when the Robot has reached and complete the Out_Mold position?

Fubini · July 8, 2021 at 8:28 AM

It should not behave differently. But who knows. Also Distance Triggers usually are for PTP motion commands because they do not have a path value to specify where you want to trigger. This changed for Spline because PTP-Spline moves (SPTP) now has a path value and you can use it by means of evaluating e.g. $DIST_NEXT and $DIST_LAST.

A way to set outputs during spline movement ? - KUKA Robot Forum - Robotforum - Support and discussion community for industrial robots and cobots (robot-forum.com)

My suggestion: Better switch to path Trigger for Splines. In your case set PATH=0 and choose ONSTART or not depending on whether you want to trigger at start or target position of your move.

Fubini

**panic mode** · July 8, 2021 at 2:30 PM

you better test it. we encountered KSS version where fault (like EStop) would cause execution of TRIGGER way before condition was actually met. broke every finger on palletizer gripper as it closed immediately upon recovery and drove into bag with gripper closed.

IlFincoITA · July 8, 2021 at 8:57 PM

I've expected to work the same way but a client reported me that executing the movement at reduced velocity the trigger has done it's instruction way before the movement conclusion. I tke your suggestion to switch to TRIGGER WHEN PATH... thanks...

**panic mode** · July 9, 2021 at 2:46 AM

they must have changed it, for example to DISTANCE=0

IlFincoITA · July 21, 2021 at 8:43 AM

Back in office from my holidays I've tested this thing with KSS 8.6 the instruction works perfectly with SLIN as expected...

TRIGGER WHEN DISTANCE and SLIN MOVEMENT

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