I am currently programming a KUKA robot and is using CELL.src to change programs (Pick, Place, Move to inspection etc)
Is it possible to avoid the robot stopping when changing program?
Yes. But a lot depends on how your programs are structured. For example, the INI fold at the top of most default-template KRL programs breaks the Advance Run Pointer and causes a momentary halt. Likewise, each program would need to end without any ARP-breaking commands (WAITs, for example). And then it depends on what your CELL loop contains.
Post your CELL and programs.
I am not using INI in the subprogram only when MOVE_BCO to be able to run individual program in T1 and touchup points. There is nothing that breaks the advanced pointer anywhere close to the end of the subprograms.
Here i have posted the cell and 2 of the programs the cell will change between and should not stop.
CELL:
PickToStart:
StartToPlace:
Wait, where are you seeing these unwanted pauses? Inside a single PGNO CASE, or between different PGNO CASEs?
If you're seeing the pause in CASE 10, between StartToPick and PickToStart, is it coming from that IF statement and/or PICK_590/520?
If IN_590or520 is an input, then checking that input could be breaking the ARP. If the input is set far enough in advance, you could try putting a CONTINUE immediately before the that IF statement. But beware of the potential timing issues.
And how does StartToPlace look like? You shared GotoPlace. By any chance for example a load change with an absolute accuracy robot?
here are some thing that trigger advance run stop.
because of things like this
and as long as ONE of them causes ARP stop, you are stuck.
Sorry here is StartToPlace
Thank you panic mode i will look into these and see if this will fix it.
Jumping between CASEs means going around the LOOP, which means that GRIPPER SET Fold at the top of the loop gets executed. If that Fold controls any $OUTs, that's another set of commands that break the ARP and will cause a pause.
