Cancel a sub program and back to my main routine

Hi there!

I ve a robot intalled on a machine, controlled by a PLC, and i noted that when we had a emergency stop the robot stops the movement, but when it back again the robot keep its move from the line that stopped. And this is very dangerous for the operator.

I want that the robot goes back to my main, and after the acknwoleged the PLC will sent the new command.

Example (code Below) :

If im in the case 1 i will call the Station_Pick() func. and if i had an emergency stop, i will remove my flag I_Kuka_PLC_Start (FALSE) and remove the code pointer from the Station_Pick() and bring it again to my main().

it is possible do this ?

Obviously im not an expert in robots, i just want to reolve this situation on my machine. I will apreciate your help!

THKS

Quote

DEF Main ( )

GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )

INTERRUPT ON 3

BAS (#INITMOV,0 )

;FOLD PTP HOME Vel=100 % DEFAULT;%{PE}%R 8.5.19,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT, 9:0

$BWDSTART=FALSE

PDAT_ACT=PDEFAULT

FDAT_ACT=FHOME

BAS(#PTP_PARAMS,100)

SET_CD_PARAMS( 0)

$H_POS=XHOME

PTP XHOME

;ENDFOLD

LOOP

IF ( I_Kuka_PLC_Start ) THEN

SWITCH Kuka_Command

CASE 0

Execute_State_mirror = 0

CASE 1

Execute_State_mirror = 1

Station_pick ( )

Execute_State_mirror = 0

Case 4

Execute_State_mirror = 4

Setup ( )

Execute_State_mirror = 0

DEFAULT

MsgQuit("Numero de programa invalido")

HALT

ENDSWITCH

ENDIF

 ENDLOOP

Quote from SkyeFire

Post

RE: Reset KUKA robot with E-Stop

(Code, 33 lines)

The CWRITE to the $CMD channel in the SPS can perform STOP, CANCEL, and RUN operations on the Robot Interpreter. Use of these commands needs to be carefully managed with the $PRO_STATE1 variable to ensure each command is only fired once, and in proper sequence, instead of "hammering" the command repeatedly.

In the above example, the user inputs I_PROG_STOP and I_PROG_RESET could stop the program, or Cancel it and then call the program ROBOT() (this can be replaced with whatever…

SkyeFire

December 14, 2023 at 9:40 PM

How is the operator close enough to the robot to be in danger?

skyeFyre it could be a unexpected movement to the operator.

In the code that you sent i could call any function ?

CWRITE($CMD,STAT,MODE,"RUN /R1/ROBOT()")

instead robot() i could call a fucntion that will do always a safe movement to home ?

Quote from panic mode

that is not simple... you need someone experienced with KUKA to make the change.

aborting subprogram is done with an interrupt and RESUME. that is the easy part.

getting robot back to home position SAFETLY is more involved and process dependent...

one need to consider state of grippers etc. and send robot back safely. this involves bunch of comparisons

Panic mode, i a litle bit confused about this interrupt.

Quote

def mainprogram()
; GLOBAL INTERRUPT DECL 1 WHEN INPUT_HOMERUN==TRUE DO restart ( )
INTERRUPT DECL 1 WHEN INPUT_HOMERUN==TRUE DO restart ( )
interrupt off 1


loop
mainloop()
interrupt off 1
endloop
end ; of mainprogram()

Def mainloop() ; Move to home according to actual position
movetohome()
loop
interrupt on 1 ; !!!!!
; make jobs here
; this is what cell does normally
; ....
endloop
end ; of mainloop()


Global DEF restart ()
brake
interrupt off 1
wait sec 1
resume
end

Display More

when we had Input_Homerun == true we call Restart and after ? how i call the home return and make turn off the interrupt?

DEF Main ( )

    GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
    GLOBAL INTERRUPT DECL 5 WHEN $Estop ==TRUE DO ResetEStop( )
    INTERRUPT ON 3 
 
PTP XHOME 

   LOOP

IF  ( I_Kuka_PLC_Start ) THEN

INTERRUPT ON 5
   
      SWITCH Kuka_Command
         CASE 0 
            Execute_State_mirror = 0
         CASE 1
            Execute_State_mirror = 1
            Station_pick ( )
            Execute_State_mirror = 0
         CASE 2
            Execute_State_mirror = 2
            Station_Unload_ok ( )
            Execute_State_mirror = 0
         DEFAULT
            MsgQuit("Numero de programa invalido")
            HALT
      ENDSWITCH
 ENDIF
 ENDLOOP 
 END
 

 Global DEF ResetEstop()
 Interrupt off 5
 BRAKE
 RESUME
 
 END

Could this interrupt work ??

if im running one of the sub functions in my switch case, ex. StationPick (), as i had activated the interrupt before, if ESTOP == true, the stationPick is canceled and the pointer goes to ResetEstop.

And the resume inside of the resete stop put the pointer again in my main loop waiting to I_Kuka_PLC_Start?

thank you very much Guys!

Guys Thank you a lot.

I´m trying to check wich options are easier.

But it seems that both have the same issue... automatic homing.

So..i will study both and will try create some automatic conditions to automatic home.