pausing a program

    Hi,

    Is there any system variable other than $move_enable or $drives_off to pause the program execution? Like not stopping the drives but just pausing the program pointer. I usually define an interrupt and then do the following

    INTERRUPT DECL 5 WHEN diPause==TRUE DO Pause()

    INTERRUPT ON 5

    DEF Pause()

    brake

    wait for NOT diPause

    END

    I wanted to know if there is some other way of achieving this. Thank you.

    • Best Answer

    Nothing direct. And dropping $MOVE_ENABLE or $DRIVES_OFF will generate a safety(ish) stop, probably a Cat 1, along with the resulting errors.

    A method that is not very recommended, but sometimes used, is to manipulate $OV_PRO (KSS 5 or older) or $OV_APPL (KSS 8.something). The only real advantage to this is that you could, say, pause the robot on a defined vel/time curve rather than simply flipping between 0% and 100%. Which has come in handy a few times.

    $OV_PRO is not recommended if your KSS has $OV_APPL available, because $OV_PRO can end up in a "custody battle" between your program and the +/- keys on the pendant, which I've had create issues where the value displayed stopped updating properly.

  • jaiiyer February 26, 2025 at 2:30 AM

    Selected a post as the best answer.
    Quote from SkyeFire

    Nothing direct. And dropping $MOVE_ENABLE or $DRIVES_OFF will generate a safety(ish) stop, probably a Cat 1, along with the resulting errors.

    A method that is not very recommended, but sometimes used, is to manipulate $OV_PRO (KSS 5 or older) or $OV_APPL (KSS 8.something). The only real advantage to this is that you could, say, pause the robot on a defined vel/time curve rather than simply flipping between 0% and 100%. Which has come in handy a few times.

    $OV_PRO is not recommended if your KSS has $OV_APPL available, because $OV_PRO can end up in a "custody battle" between your program and the +/- keys on the pendant, which I've had create issues where the value displayed stopped updating properly.

    A question just popped up in my mind... so is this different than using BAS(#VEL_PTP, xxx) and/or BAS(#VEL_CP,xx) commands?

    BAS(#VEL_xx,value) sets programmed velocity. this is MEANT to set velocity along programmed path.

    $OV_PRO is a program velocity override. this is manual control for operator so that he/she can override (throttle the speed down) as needed when testing program.

    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

    If you're familiar with CNC machines, $OV_PRO and $OV_APPL are like the "feed rate overrides".

    Basically, the speed the robot physically moves at will be the point speed (set by those BAS calls, or by direct setting of the system variables) multiplied by the % of $OV_PRO and %OV_APPL.

    So, a LIN motion programmed at 1m/s will only achieve 500mm/s if $OV_PRO or $OV_APPL is set to 50. It's also serial multiplication, so if both $OV_PRO and $OV_APPL are set to 50, then you'll only get 250mm/s (1m/s * 50% * 50%).

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