About Kuka Interrupt

    Hi everyone,

    First of all, I know there are many titles on this subject, but I couldn't solve my problem.

    For example; I have points p1, p2, p3, p4 and I will follow these points in order. When the robot moves from point p2 to point p3, if input 1 is on, I want it to stay where it is. Then, when input 2 is on, it should move to directly point p4 from where it was (without completing p3's movement) and finish the cycle.

    I would be glad if you could help me.


    Best regards.

  • Umud M December 4, 2024 at 1:42 PM

    Changed the title of the thread from “About Interrupt” to “About Kuka Interrupt”.

    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

    $IN[2025] is an always TRUE signal.
    Using the Wait statement ensures that the advance pointer is blocked, preventing the interrupt from being disabled too early. Without this, the advance pointer can be several (around 3?) move instructions ahead, which might cause the interrupt to be disabled before the interrupt condition is actually met.

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