Z axis offset movement

Use geometric operater ":"and not lin_rel for this. If user can interrupt movements there are cases where the robot will start the relative move again from the current position where the robot was halted e.g. line selection.

You want to offset in tool or base decides whether you should use the offset on the left or right side of your target point calculation.

For the part detection you can use interrupts.

Fubini

Why only a single 2mm step. I thought you had multiple.

Considering the problem description: Why 2 mm steps at all. If you have a sensor that detects your sheets why not go down until the sensor triggers. In that case you could setup an interrupt to stop the robot when sensor triggers and then go up again a little if needed. Lookup Brake and Resume commands if this is an option.

Fubini

in the past i had similar necessity

Thread

Palletizing block with different heights

Hello ,



KRC1 Vkr200/2
kss 4.1.14 pp02

My application its the next :

stack blocks with different heights max tolerance +/-3cm
first stack block on vertical position , next block horizontal position , i repeat this operation for 12 stacks.

i fabricate the gripper , with sensors necessary to do it , and reconfigured 16 I/O digital via DeviceNet

As the blocks has different heights, and need to be released to 5 mm up ( for the characteristics of the block and characteristics for the gripper )

My idea its…

jesusvaricap

January 12, 2017 at 4:30 AM

the users of this forum help me , i do some changes to the program and work correctly.

also this post can be useful:

Thread

Take piece to punch and stack

Hello

KRC2 KSS 5.2.14 KR2210_L150

I have a project to take a disk metal with magnetic tool punch the disk and stack the punched disk



so i need to use 2 cicles "FOR"

one cicle for take the disk and heigth Z decreasing dependig of the thickess of the disk

and other cicle "FOR" increase Z height with the finished disk

reading older post i thik the next code can be useful



(Code, 13 lines)

once finished 50 disk , make a Buzzer sound to take the disk with forklif



any suggetions to the project ?



Thanks

jesusvaricap

November 4, 2022 at 5:18 PM

Quote from bestinsebastian

Hai,

I have been trying on interrupts. I got 2 points P1 and P3, When the robot moves from P1 to P3, if $IN[3] == FALSE THEN I want to stop the robot there and turn on the vacuum.

Unfortunately the robot still moves to P3 and not jumps to the sub program

Can anyone suggest why this is happening, Kindly correct me if I am doing wrong logic here.

How is the interrupt declared?

It would be helpful if you posted the actual code of the main program, the search-motion program, and the interrupt service routine. Use code boxes.

you cannot have INI inside ISR.

also post your code and place it inside CODE tag

Line 6 contains motion to be interrupted. This motion must be moved to a subprogram . Also add in that subprogram something to stop advance run, like

DEF SEARCH()
  PTP P3
  WAIT SEC 0
END

and in your existing program replace the line 6 to

SEARCH()

Interrupt DECL should be in top-level program, Interrupted motion should be in a sub-program (which needs to end with WAIT TRUE or some other command that breaks the Advance Run Pointer). See example:

Thread

Interrupt Example

There have been a lot of redundant questions about Interrupt handling lately, so I decided to make a heavily-commented example file that should (Hopefully!) point people with the same questions to as a starting point.

I don't have a KRC handy to test this on, though, so I can't guarantee I haven't missed something subtle here.

(Code, 293 lines)

(Code, 48 lines)

SkyeFire

March 18, 2021 at 8:25 PM

Quote from bestinsebastian

if $IN[3] == FALSE THEN I want to stop the robot there and turn on the vacuum.

Quote from bestinsebastian

when the input IN[9] == true ,the subprogram grip () is not been called.

Are you using $IN[9] or $IN[3]? Is the Interrupt supposed to fire on the Input going True or False?

Note: Interrupts only fire on edge transitions of the condition. This means that, if you have:

GLOBAL INTERRUPT DECL 10 WHEN $IN[9]== TRUE DO GRIP( )

Interrupt 10 will only fire when $IN[9] changes from False to True.

This means that if $IN[9] is already True when the INTERRUPT ON command executes, the Interrupt will not fire until $IN[9] becomes False, and then True again. Your program should include a check of the $IN before executing INTERRUPT ON.