Any messages?
it is a hardware problem. something in your safety circuit trips and quickly recovers. drives icon goes red and quickly changes back to green but - the damage is done and process is stopped.
it is interesting to see that it actually changes back to green so quickly suggesting that it was most likely without user intervention. in AUT that is done by pressing drives on button and that - should not be something spontaneous. Perhaps bad KCP (buttons or more likely KCP cable).
Another thing to keep in mind is that displayed messages are not all messages. there is more...
And some are removed automatically if problem is cleared. so check the diagnostic logbook for details... there could be something to hint at the root cause.
it could be many other things....
but i would first check the KCP. that is easy if you have another robot. if not try to force the problem and see if you can reproduce it. you already said that it happened when robot was not moving. but... was the KCP moving? if the cable is damaged and you pull on it or bend it a bit at the problem spot it should easily reproduce the issue.
it could be thermal issue too. DSE-RDW tool allows you to monitor temperature of various components.
Hello
I want to move axis to a fixed point, but on the way, if the sensor is activated, it will stop moving. I used Arduino and serial port for the sensor. Now I want to use interrupt. when i read sensor status ptp moving stop move.
flag=true
Global Interrupt Decl 3 when ch[1]="1" do sub1()
interrupt on 3
loop
CRead(...,...,"%s",ch[])
if flag=false then endloop
ptp(a3 130)
endloop
DEF sub1()
Interrupt off 3
flag=false
End
Stop A3 Moving when It see position 1 in the sensor path
And this relates to this thread how?
Use break command and read about advance run and how to break advance run in intertupts. Also looking up resume might be what you want.
Honestly I have a little bit difficulties understanding your question.
Do you want to stop the robot when the interrupt is triggered or are you asking why it stops.
Fubini
Hi Fubini,
I want stop the robot when the interrupt is triggered
check variable in CREAD.
I want to stop the path that is in a command.
It stands like the water we want to take from the water bowl when we reach the beginning of the water.
Then use break and resume and add an advance run stop at the end off the interrupt.
Can be found many times by searching in the forum with keyword resume, e.g.
BTW:
if flag=false then endloop
is no valid krl code Comparision is "==" and endloop after then is nothing you can do at all whatever you wanted to achieve with this statement.
Fubini
It doesn't stop dynamic move, i want stop moving in path
Sorry I do not understand. Maybe try deepl.com to translate from your native language and try to describe again what exactly you want to achieve.
Whats dynamic move, whats it, whats stoping in path?
Do you want to abort/cancel a movement or just halt and continue later on?
Do you mean the robot is not approximating/blending?
...
Fubini
I want to go from point 1 to point 2. and want Stop on the track if the sensor is seen. Point 1 to point 2 is done with the ptp command.
Sensors data read with CREAD Command.
ptp{1----------------------2}
Whats your sensor data and why do you need to read it with CREAD? Normal way of triggering an interrupt is using IOs. You could use an input directly or declare a signal to react on. You need to handle concurrency between your sensor data and the robot movement. With inputs or a signal this is easy and should look something like this
...
Interrupt Decl 3 when $IN[<YOUR INPUT>]== #TRUE do sub1()
interrupt on
ptp(a3 130)
...
DEF sub1()
Interrupt off 3
BRAKE
; do whatever you want after robot stopped current movement
RESUME ; leave out if you do not want to abort current movement
WAIT FOR TRUE
EndIf you really need the CREAD to parse your sensor data I would do the parse in submit and set a flag that triggers the interrupt instead of the input or signal.
Fubini
Sorry, In and Out is broken 
and i can't use them 
. so i had to use com port to control sensor.
note, there is a slight mistake in the example, RESUME requires motion to be in a subprogram. motion to be interrupted by RESUME cannot be at the same program level where interrupt is declared. Also at the moment RESUME command is executed, advance run pointer must be in the subprogram and not at level where interrupt is declared.
Ok Panic thanks, But I tell to Fubini my interrupt is software interrupt not Hardware
i want to stop movement when interrupted.
my program interrupt checking value of variable from serial port in COM3 . My problem is that it does not stop until it reaches the target and the sensor is seen.
The PTP {a3 130} command is executed to the end then the Interrupt executed. do you Understand what i want? (maybe sensor seen in 120) But it goes up to 130 and does not stop at 120.
i don't know what you have there. why not post your code...?
But I tell to Fubini my interrupt is software interrupt not Hardware
i want to stop movement when interrupted.
Thats why I suggested to create flag that you can set whenever your desired condition is met. You could also set this flag by hand to test using display -> variable -> single if your interrupt is setup correctly. Only after this verification start incorporating the COM evaluation. If your interrupt program is triggered and is containing a BRAKE command the robot definetly will stop.
Understand what i want? (maybe sensor seen in 120) But it goes up to 130 and does not stop at 120.
How do you know that? How did you verify that interrupt trigger does not simply come too late. Also robot might have stopped and continued to target position after the interrupt finished because you did not use RESUME in interrupt program to cancel the ptp. I would try to run your movement with a very low velocity and see if it behaves as you expect. Also you could add a HALT at the end of the interrupt to see where robot is when you are at tbe end of the interrupt program. Then you can also use $pos_int to check where interrupt was triggered.
Fubini
