Posts by AbrahamZX

Quote from hermann

Nobody hinders you to modify the cell program, and add a automatic homing routine.

Can't imagine what's the problem with the interrupt. Have programmed uncountable robots myself with this technique, and know hundreds of robots that have been programmed like that with no problems.

But if you are happy with your solution, be happy

The interrupt doesn't work under specific circumstances. The robot has to be running the cell program in order for the interrupt to work and I may want to interrupt the program while the cell program is paused. What happens then is that the interrupt stops working for some reason if I trigger it while the cell program is paused and if I start the robot, it restarts from the current line and doesn't send me the signals of program active and application running. I use these two signals to determine that the robot is executing a sub-program. So I get stuck inside of the sub-program with no way to exit it from the PLC. I hope this explains it better. CWRITE works regardless of the cell program being running or paused, since it's on a sub of course.

Quote from panic mode

not sure what post you are referring to, hermann made a lot of posts...

you can use CWRITE to select, stop or cancel program.

this has to run in submit of course, CWRITE cannot operate on own thread or interpreter.

DECL STATE_T s

DECL MODUS_T m

CWRITE($CMD,s,m,"STOP 1")

CWRITE($CMD,s,m,"CANCEL 1")

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This worked perfectly for my current setup. Much better than the interrupt for what I need. Thanks!

Quote from panic mode

one of the issues with aborting program by some automated mechanism (RESUME, CWRITE) is that robot is not necessarily in known position and automated recovery may not be safe unless done very carefully.

Yeah, I have dealt with recovery programs in FANUC robots, but this cell program does not have an automatic homing command. I have a custom go home sub-program that can be manually requested from the HMI and it has keep out zones defined for known obstacles, while running at a slow override speed. So I am aware of these risks.

I am using the interrupt method. I got it to work now. Basically the interrupt was turning off anytime enable or a safety signal triggered a robot stop, so I threw something on a sub to always turn it on.

Never mind, this did not fix it after all. I will try to use CWRITE.

I have been testing hermann's method of cancelling and resetting the cell program and it stops working whenever the robot is stopped due to turning off the enable signal or any safety stop happening, while any sub-program is running. It works great when the abort signal is sent while the robot is running the sub-program without interruptions. However, after restarting the robot, after a stop, and attempting to abort from the line it's in inside of a sub-program (without completing the sub-program), it does not work. In fact the robot continues executing the sub-program while keeping the program active and the application running signals OFF. So my PLC doesn't even know that the robot has continued executing the sub-program it's in and the abort signal does not work.
The use case I want to add is to be able to abort the robot while it is being held by any signal, safety or otherwise. Which is something I currently can't do. When I get stuck in this state I need to reset the cell program from the teach pendant.

Quote from panic mode

exactly as it is already defined in CELL.SRC

just comment out:

Code

DECL CHAR DMY[3]
DMY[]="---"

I hadn't noticed this was in the INIT fold. Thanks

Quote from hermann

You can create a cell.dat, or you can declare them in $config.dat, or you can create another dat file with attribute public and declare the variable as global.

I am trying this out for a cell I'm working with and I am stuck here. How do I declare dmy on the $config.dat? I tried writing a few different lines and I'm confused as to what to write there.

The code works to do what I want. Thank you!

Last attachment, apologies for the separate images.

2nd attachment

Hello,

I am working with a KRC4 NA on KSS 8.3.27 and a KR16-2. I am having an issue where XHOME is turning on all $IN_HOME output signals. I have configured XHOME1 to 6 on the $config.dat through inline commands on a program. I saved the changes, rebooted the control PC and nothing changed. I rebooted the control PC with Reload files checked and that didn't help either. I am having a hard time finding documentation to figure out what I still need to configure. I am attaching screenshots of the automatic external configuration, the automatic external display and current position, and the $config.dat lines for the XHOME positions.

We managed to solve it today by uninstalling and reinstalling "KRC4 EthernetIP". For some reason this driver seems to have been corrupted or missing. After that the KSS00076 "I/O Driver 'EIPIODriver' uninstalled. I/O mapping not active" error stopped appearing and all our EIP configuration started working as expected. Thanks for the help panic mode. For the SNN, we had to "set" the SSN on the PLC module, once we managed to get a connection to the Kuka and started seeing that error.

Quote from panic mode

if robot is ok, then you need to look at PLC. if this was working before, maybe just need to check safety network number (or try new one)

We tried setting a new safety network number and it didn't make any difference. We also set up the SNN in the description of the safety control on WV and deployed it, and it also made no difference.