Hi Everyone!
I'm new to this forum so please pardon my mistakes and help me to improve them.
Currently I'm working on a Kawasaki RS20 robot with E-Controller.
I want to implement the following working:
1) When the robot is moving, on an external signal (from a PLC), it should stop wherever it is (and whatever move it is doing).
2) Next, it should do a different move to go to a different location (and not finish the last move with last location).
So far, I have been able to finish the first part but I'm having difficulties in achieving the second as the robot will try to finish the move it was doing earlier and then only move to the new location.
I have tried using parallel programs (using PCPROGRAM3) to handle this process but it does not allow move commands in a PCPROGRAMS.
I came across the XMOVE but it is used for Linear moves and I have JMOVES in my code.
Therefore, I'm running out of ideas to achieve my end goal.