KUKA KRC4 Positioning by sensor

    Hello.

    I have a problem.

    The robot picks up the detail from the roller conveyor, the details are rearranged, each lies differently.

    I place them on another roller conveyor, but in a fixed position.

    I have two position sensors installed.

    How can I make the robot rotate the 6th axis until there is a signal on the sensor. If there is a signal, stop rotating and eject the part.

    • AD

    use an interrupt, and in ISR routine use brake and resume commands. motion will need to be in a subprogram, with something to stop advance run from leaving early.

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

    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

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