Interrupt changes advance run behaviour?

sloopkogel · March 31, 2024 at 6:58 PM

I have written a program and wanted to try it out in KukaSim. The program is working fine but after I trigger an interrupt, non of the motions will blend anymore. I have created a simplified version of the program to replicate the problem

Main:

Code

DEF MAIN()
   ;FOLD INI;%{PE}
      ;FOLD BASISTECH INI
         GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS == TRUE DO IR_STOPM()
         INTERRUPT ON 3
         BAS(#INITMOV, 0)
      ;ENDFOLD (BASISTECH INI)
      ;FOLD USER INI
         ;Make your modifications here
      ;ENDFOLD (USER INI)
   ;ENDFOLD (INI)
   $ADVANCE = 1
   PTP $POS_ACT
   ;FOLD SLIN P4 Vel=2 m/s CPDAT4 Tool[1]:TOOL_DATA[1] Base[0] ;%{PE}
      ;FOLD Parameters ;%{h}
         ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=P4; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT4; Kuka.VelocityPath=2; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SLIN
      ;ENDFOLD
      SLIN XP4 WITH $VEL = SVEL_CP(2.0, , LCPDAT4), $TOOL = STOOL2(FP4), $BASE = SBASE(FP4.BASE_NO), $IPO_MODE = SIPO_MODE(FP4.IPO_FRAME), $LOAD = SLOAD(FP4.TOOL_NO), $ACC = SACC_CP(LCPDAT4), $ORI_TYPE = SORI_TYP(LCPDAT4), $APO = SAPO(LCPDAT4), $JERK = SJERK(LCPDAT4), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
   ;ENDFOLD
   Search()
   ;FOLD SLIN P5 Vel=0.2 m/s CPDAT5 Tool[1]:TOOL_DATA[1] Base[0] ;%{PE}
      ;FOLD Parameters ;%{h}
         ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=P5; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT5; Kuka.VelocityPath=0.2; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SLIN
      ;ENDFOLD
      SLIN XP5 WITH $VEL = SVEL_CP(0.2, , LCPDAT5), $TOOL = STOOL2(FP5), $BASE = SBASE(FP5.BASE_NO), $IPO_MODE = SIPO_MODE(FP5.IPO_FRAME), $LOAD = SLOAD(FP5.TOOL_NO), $ACC = SACC_CP(LCPDAT5), $ORI_TYPE = SORI_TYP(LCPDAT5), $APO = SAPO(LCPDAT5), $JERK = SJERK(LCPDAT5), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
   ;ENDFOLD
   ;FOLD SLIN P6 CONT Vel=0.2 m/s CPDAT6 Tool[1]:TOOL_DATA[1] Base[0] ;%{PE}
      ;FOLD Parameters ;%{h}
         ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=P6; Kuka.BlendingEnabled=True; Kuka.MoveDataName=CPDAT6; Kuka.VelocityPath=0.2; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SLIN
      ;ENDFOLD
      SLIN XP6 WITH $VEL = SVEL_CP(0.2, , LCPDAT6), $TOOL = STOOL2(FP6), $BASE = SBASE(FP6.BASE_NO), $IPO_MODE = SIPO_MODE(FP6.IPO_FRAME), $LOAD = SLOAD(FP6.TOOL_NO), $ACC = SACC_CP(LCPDAT6), $ORI_TYPE = SORI_TYP(LCPDAT6), $APO = SAPO(LCPDAT6), $JERK = SJERK(LCPDAT6), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0) C_Spl
   ;ENDFOLD
   ;FOLD SLIN P7 Vel=0.2 m/s CPDAT7 Tool[1]:TOOL_DATA[1] Base[0] ;%{PE}
      ;FOLD Parameters ;%{h}
         ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=P7; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT7; Kuka.VelocityPath=0.2; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SLIN
      ;ENDFOLD
      SLIN XP7 WITH $VEL = SVEL_CP(0.2, , LCPDAT7), $TOOL = STOOL2(FP7), $BASE = SBASE(FP7.BASE_NO), $IPO_MODE = SIPO_MODE(FP7.IPO_FRAME), $LOAD = SLOAD(FP7.TOOL_NO), $ACC = SACC_CP(LCPDAT7), $ORI_TYPE = SORI_TYP(LCPDAT7), $APO = SAPO(LCPDAT7), $JERK = SJERK(LCPDAT7), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
   ;ENDFOLD
END

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Search:

Code

DEF  Search ( )
   INTERRUPT DECL 5 WHEN $IN[1] DO SearchInterrupt()
   SearchMove()
END

SearchMove:

Code

DEF SearchMove()
   INTERRUPT ON 5
   ;FOLD SLIN P2 Vel=0.1 m/s CPDAT2 Tool[1]:TOOL_DATA[1] Base[0] ;%{PE}
      ;FOLD Parameters ;%{h}
         ;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.spline; Kuka.IsGlobalPoint=False; Kuka.PointName=P2; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT2; Kuka.VelocityPath=0.1; Kuka.VelocityFieldEnabled=True; Kuka.ColDetectFieldEnabled=True; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=SLIN
      ;ENDFOLD
      SLIN XP2 WITH $VEL = SVEL_CP(0.1, , LCPDAT2), $TOOL = STOOL2(FP2), $BASE = SBASE(FP2.BASE_NO), $IPO_MODE = SIPO_MODE(FP2.IPO_FRAME), $LOAD = SLOAD(FP2.TOOL_NO), $ACC = SACC_CP(LCPDAT2), $ORI_TYPE = SORI_TYP(LCPDAT2), $APO = SAPO(LCPDAT2), $JERK = SJERK(LCPDAT2), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
   ;ENDFOLD
   WAIT FOR TRUE
   INTERRUPT OFF 5
END

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SearchInterrupt:

Code

DEF SearchInterrupt ( )
   INTERRUPT OFF 5
   BRAKE
   RESUME
END

If I comment out 'Search()' in the main program then the blending of the motions after the 'Search()' call work fine, if I call Search() (and therefore the interrupt) then every motion afterwards will not blend anymore. I also get the following message in the output of KukaSim at the point where the blending is supposed to start:

KR 10 R1440-2: RRS OP 118 (GetNextStep) message: Approximation not possible

I have checked $ADVANCE, and it is always 1, I also tried forcing $ADVANCE = 1 after calling Search(), didn't change anything

- Am I doing something wrong?

- Is this behaviour to be expected after triggering an interrupt?

- Or is this probably a KukaSim shortcoming / bug?

KRC5 KSS 8.7.5 (simulated in Kuka.Sim 4.3)

**panic mode** · March 31, 2024 at 7:22 PM

sounds you run into a bug. blending P6/P7 should not be affected.

the only thing i would do is make sure to turn off interrupt after search... you only turn it off IF the interrupt is triggered. but that can be disastrous as possibly robot or program may crash if interrupt trigger did not occur during expected search but some time later.
there should be line in side SEARCH() directly after SEARCHMOVE() to do just that.

sloopkogel · March 31, 2024 at 7:32 PM

Quote from panic mode

sounds you run into a bug. blending P6/P7 should not be affected.
the only thing i would do is make sure to turn off interrupt after search... you only turn it off IF the interrupt is triggered. but that can be disastrous as possibly robot or program may crash if interrupt trigger did not occur during expected search but some time later.
there should be line in side SEARCH() directly after SEARCHMOVE() to do just that.

Thanks for the input. I have included INTERRUPT OFF 5 in the SearchMove() program (line 10), doesn't this not accomlish what you are suggesting? If the interrupt triggers then INTERRUPT OFF 5 will be called in the interrupt subroutine, if it doesn't get triggered then INTERRUPT OFF 5 will be called at the end of SearchMove()

**panic mode** · March 31, 2024 at 7:48 PM

ooops my bad... i missed that one, you are correct- all is good...

sloopkogel · April 1, 2024 at 8:42 AM

Today I tried the same thing with OfficeLite connected to KukaSim, and now the blending works fine, so this seems to be a KukaSim bug indeed

Interrupt changes advance run behaviour?

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