I use a program that is controlling the robot RS003N by receiving from the computer via UDP list of 6 position variables [XYZOAT]. Then the values are decoded and assign to do JMOVE [XYZOAT]
At the end of robot I have force sensors that sends data to computer.
I would like implement something that would stop robot during the execution of a JMOVE command if sensors will show on computer too high values, by sending a UDP command and that robot 'forget' the move command to that point, so not just HOLD.
After that I would like to be able to receive next point position by UDP and execute the next JMOVE to that point.
Here is pseudo code how I see it:
Received first point via UDP vl1 = [.vl, .vl, .vl, .vl, .vl, .vl]
POINT .tp= TRANS (.vl, .vl, .vl, .vl, .vl, .vl)
Received via UDP HALT ; to stop the movement during execution
?HALT? ; stop the whole program so I cant receive new UDP commands to execute
?ERESET? ; not working in program
Received new point via UDP vl2 = [.vl, .vl, .vl, .vl, .vl, .vl]
POINT .tp = TRANS (.vl, .vl, .vl, .vl, .vl, .vl)
Is it possible to stop move execution to a point and with next UDP received do move to different point? What else could I use as HALT and ERESET doesn't work as expected?