Background logic

Quote from Mangesh Shenavi

If this condition becomes satisfy, robo stop immediately .

Are you sure about that? If that code is running in Submit, HALT will affect Submit interpreter.

But robot program runs in Robot interpreter. In best case this may prevent starting of robot program but for different reason - because there may be check if Submit is running. And once the robot program is running, this will no longer have any effect even on those systems.

Proper way to pause robot program is to use interrupt and BRAKE command. note that BRKE only has an effect while advance run pointer is still in the ISR.

Quote from Mangesh Shenavi

But, i cant use $OV_PRO=100 after non-satisfy of that condition...

Because , sometimes i have to run robot on 10,30,50,75 or 100 % speed...

You can store the actual value of ov_pro before setting ov_pro to zero, and later set it back to the stored value.

Anyway, imho it's bad programming to change ov_pro during runtime by program. For me it is a good method for manipulating speed for debugging, but not for production.

Maybe also an option:

Post

RE: Submit interpreter.

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…

Fubini

April 18, 2022 at 12:59 PM

Fubini

Brake only works in main task with the motions.

Fubinis post is easy to understand.

You can use ROB_STOP (#RAMP_DOWN) to stop the robot and

ROB_STOP_RELEASE() to restart,

instead of using brake, or ov_pro.

Quote from Mangesh Shenavi

I used BRAKE command instead of $OV_PRO=0, in SPS.

Quote from hermann

You can use ROB_STOP (#RAMP_DOWN) to stop the robot....

instead of using brake or ov_pro

Are you kidding?

If you really don't understand that, what should I say more?

Quote from Mangesh Shenavi

I used BRAKE command instead of $OV_PRO=0, in SPS.

But it directly shows error, i.e. illegal block.

Please suggest best way, to stop robot & start without external activities.

of course... that is not allowed. BRAKE is one of the instructions that only can be used in ISR.

ISR = Interrupt Service Routine

So to use that you need to setup interrupt, tell with what ISR to run when triggered and then in the ISR use BRAKE command as well as some sort of logic that will trap and keep instruction pointer in ISR until condition changes back.

the other option is to copy $OV_PRO value into some backup variable before setting it to zero. then when condition is gone, you can restore THAT value... and only do it ONCE... so that user can still change it if needed. personally i am not fan of this. also this does not seem to work on newer KSS... i prefer things that work on any platforms.

the best option is to search forum and read the documentation mentioned in READ FIRST