hi guys,
i wanted to find a signal which shows if the Submit interpreter is on or off. I could not find it in system variable manual of KUKA,
Anyone of you know the variable name for that.
hi guys,
i wanted to find a signal which shows if the Submit interpreter is on or off. I could not find it in system variable manual of KUKA,
Anyone of you know the variable name for that.
Check the system variable $PRO_STATE0
Display MoreDannyDJ yup thankyou very much, it seems to be fine.
hey one more question is there any system variable that can force a program to stop.
for example in SPS sub :
if $in[1] then
STOP THE PROGRAM VARIABLE TRUE
endif
$pro_act=true ??
can this variable work?
Do you have the system integrators manual? If so, check the CWRITE instruction.
Maybe also system function ROB_STOP might be useful here
https://www.roboterforum.de/ro…n/?postID=53132#post53132
Unfortunatly only in german.
Fubini
Quick translation by deepl.com:
"EXTFCTP BOOL ROB_STOP(ROB_STOP_T TYPE: IN)","; Stopping and preventing a robot movement", "The ROB_STOP() command stops a current robot movement and prevents all further movements of the robot, whether by program/command operation or manual operation, until the ROB_STOP_RELEASE() command has been called. This command can only be called from a submit program.
The parameter specifies with which stop reaction the robot is to be stopped.
Return values:
- TRUE if stop was executed
- FALSE if error occurs, e.g. unsupported stop type passed
"ENUM ROB_STOP_T RAMP_DOWN, PATH_MAINTAINING","; stop reaction for ROB_STOP()", "type of stop reaction that ROB_STOP() should trigger"
"EXT_PRE", "EXTP ROB_STOP_RELEASE()","; Unblock block caused by ROB_STOP()", "The ROB_STOP_RELEASE() command unblocks robot motion caused by ROB_STOP(). This command can be called only from a submit program."
Translated with http://www.DeepL.com/Translator (free version)
hi guys,
i wanted to find a signal which shows if the Submit interpreter is on or off. I could not find it in system variable manual of KUKA,
Anyone of you know the variable name for that.
and what KSS we are talking about?
newer KSS versions (8.3.15+) support multisubmit meaning there is ore than one submit and determining state is slightly more involved. and since 8.5 there are also some changes...
the most recent version of KSS is 8.6/8.7 but the most recent system variable manual seem to be two year old document for KSS8.5 - it is V1 from August 2020 of "KSS_85_System_variables_en.pdf".
on a newer robot, variable of interest would be $PROG_INFO[] or if interested in main submit
$PROG_INFO[2]
The simplest way to get a signal indicating that the SPS is running might be to use a PULSE command.
For example, if the main SPS loop included the command PULSE ($OUT[1], TRUE, 0.5) then if the SPS were to stop for any reason, $OUT[1] would go False 0.5sec later.
Caveats: if your SPS loop takes longer than 0.5sec to run (which should never happen for a well-programmed SPS), that time duration might need to be enlarged.
Do you have the system integrators manual? If so, check the CWRITE instruction.
DS186 hey thankyou for suggestion but it seems like it was expertise functions, i went through what the idea was, it made me anxious rather than curious, may be it was little complicated for me.
hey Fubini panic mode SkyeFire thankyou for the help, i found a command that checks the Multisubmit running state, $Pro_state0 , if the state is #P_active then atleast one of the submit is running. which in my case was the system submit interpreter. looks to be working fine.
SkyeFire your idea was clever way of dealing it. but doubt it would be my permanent solution for my problem. Maybe for something else.
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