How to stop move execution to a point and with next UDP received do move to different point?

  • Hi everybody,

    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[1], .vl[2], .vl[3], .vl[4], .vl[5], .vl[6]]

    POINT .tp= TRANS (.vl[1], .vl[2], .vl[3], .vl[4], .vl[5], .vl[6])

    JMOVE .tp

    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[1], .vl[2], .vl[3], .vl[4], .vl[5], .vl[6]]

    POINT .tp = TRANS (.vl[1], .vl[2], .vl[3], .vl[4], .vl[5], .vl[6])

    JMOVE .tp

    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?

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  • ****Edited after re-reading your post****

    You will not be able to seamlessly abort the current motion, and start a new motion without pre-processing (as far as I'm aware using standard Kawasaki motion).

    You may be better to research the RTPM by User Input option (see attached manual), this may offer a better solution.

  • Hi

    I want change robot motion path according camera data and i try to use RTPM by user input (TCP-IP), but i get error "Option is not set up".
    How i can enable this option?

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