Safe returning home

Hello guys,

I have the following situation which I would like to correct.

I have an interrupt running when the operator presses a STOP button if system is in STOP state and the operator also presses the RESET button then the robot will execute a safe return home strategy which consists of two movements. I wanted to create that if the operator presses STOP at any moment the robot would STOP and resume after they press START again.

I achieved that by using a STOP 2 from the PLC cutting the MOVE_ENABLE SIGNAL and then doing the handshake again to resume the movement. But when I do this the robot if the movement was not completed the robot goes to the next movement point when the handshake is completed again.

Could you suggest an alternative solution using interrupts or from the PLC that maybe I'm missing?

This is the interrupt code.

After executing the RESUME goes to the cell main program.

DEF  STOP_INT ( )


BRAKE
WHILE STOP_PROCESS
IF  ( (ABORT_PROCESS == TRUE) AND ($IN_HOME1 == FALSE))  THEN

$TOOL =TOOL_DATA[1]
$BASE=$NULLFRAME

;SPEED OVERRIDE 20%
$OV_PRO=30

;FOLD PTP P01 Vel=25 % PDAT01 Tool[1]:Tool1 Base[0] ;%{PE}

;ENDFOLD


;RETURN HOME

PTP XHOME

;SPEED OVERRIDE 50%
$OV_PRO=50


WAIT SEC 0
RESUME

ENDIF

ENDWHILE


END

Thank you!

Yes, but in my case I have the 2 movements in the interrupt, so I'm just cutting the move_enable signal and then when the robot resumes the motion he jumps to the other one.

I don't want the robot to return to the subprogram 1 called from cell, I want the robot to execute the return home movements and then use the resume command to go back to cell and wait for another program.

Should I create another interrupt and use it in the interrupt_Stop to use the resume command?

I have the following flow. I'm executing a sub program called from cell. When someone pressed STOP the interrupt shown above is triggered.

If the operator presses the RESET button which is the ABORT_PROCESS signal declared in the interrupt it goes in the IF ELSE branch to execute 2 PTP movements to return home safe.

In this configuration the robot will execute the 2 movements to return home but wont stop only if you press the E-STOP button.

I tried to introduce a logic in the PLC using a START-STOP to be able to give the operator the posibility to stop the robot in any moment when returning home. To stop the robot I when executing that 2 motions I disabled the move_enable but when the operator presses START again and the handshake is executed the robot will do the next scenario.

If he started the PTP X01 and then the operator pressed STOP but he didint reach the end point when the operator pressed START again he will go to the PTP XHOME and jump the end point of PTP X01.

I was trying to find a solution that when he operator pressed STOP and then START he won't skip the end point of the movement that he was executing to jump to the next PTP movement.

I hope that his explanation can help to have a better view of what I want to achieve.

Thank you

Thank you both for your responses, I created a separate sub-program for the return home sequence and added some new interrupts to cancel the running program and trigger a bit to activate the return home sequence when the advance run is in cell.