Hi all ,
I have a problem with stopping a tool (extruder ) controlled by IOs . I use my KUKA as a 3d printer . we have a issue where if the robot stops itself because of an issue (like it crashed because the print has moved ) the robot stop , this is good but the extruder will keep pushing out plastic like nothing has happened . this is a big problem (i can show you the picture but its not pretty )
Can anyone please help , i have tried the below but it did not work : SPS.sub
IF NOT $ALARM_STOP THEN
IF NOT haspulsed THEN
haspulsed = TRUE
PULSE (STOP_KILL, TRUE,2) ***stop the motor (not in the real code)****
PULSE ($OUT[3], TRUE,2) **** (Stops the heater) *****
ENDIF
ELSE
haspulsed = FALSE
ENDIF