During workspace define...
Origin is what is sane as home coordinates value..suppose X= -1233.4 Y=944.23 Z=233.45
A=179.90 B=0.21 C=-179.29
This is the origin or i need to add the origin of the all 0
During workspace define...
Origin is what is sane as home coordinates value..suppose X= -1233.4 Y=944.23 Z=233.45
A=179.90 B=0.21 C=-179.29
This is the origin or i need to add the origin of the all 0
Thank you for your reply...
DEF GO_HOME ()
BRAKE
Wait Time 0
Interrupt off 4
Wait time 0.5
interrupt on 4
Wait Time 0.5
RESUME
END
By this code interrupt will go back to P00 from any point of current program....
I will try this possibility tomorrow....
Also you guys have a kuka officelite any crack version then pls share with me..
This is my first project with kuka robot...we usually work with ABB....they have Excellent offline robotstudio...without any cost....
Thanks in advance...
Hello @ panic mode....Thank you for your response...
I hope you tired but just help me few things
1) what is ARP ?
2) i just forget to put END in cell.crc ....it's my mistake....
Is there i only put brake and resume command in ARP try to complete my interrupt program as soon as possible....then program pointer will reset back to P00 and wait for next program number then is it fine..
Thanks for your response....
I just want to ask my program is working...whenever there are any interrupt are there..it's going to at that program.
I need to sure that my robot not completed interrupt routine....it's stopped at Case 5 home condition because of plc not giving him external command as soon as it's reached at home position....
After that plc gives another program no...which works ..but next time whenever interrupt will happened then what my interrupt program is resume from case 5 to complete it or it will move starting onwards..
Also pls let me know is there any offline software for kuka to check all this consequences...offline simulator....to check all this thing...because i can't check in original system ..it's too risky .....
Thnks in advance for help...
and also if my interrupt program is going on then sometimes it's showing on Teach pendant sometimes...not....
My program pointer is waiting for next program...but interrupt program is going on....so any malfunctions happens at that time....
am I wrong in anything...Should i call this home recovery routine by program calling method....basically i want to cancel the robot current program and come back to home directly from that...and home it can go to direct any other program...
Is there any way that i want to cancel my current running program..by external output and send back to program pointer back at point to wait next program no. ??
my cell program....
Everything is working but i have a little bit doubt...in interrupt....
Sometimes...is there a sometime recovery is done through HMI and operator leaves the robot in between...So interrupt is not working at that time...So I'm confused...at that time...is there any limits to the interrupt....if interrupt program is going on...and in between someone leaves for 1 to 2 hour..after that it is resume from where i will be stopped aur program will directly go to main program..
Here my recovery routine...inattachment
Thank you for your response...
I already Completed recovery program using interrupt and also it's works fine...but only one issue here that...my customer wants recovery home button on HMI and robot is moving only if HMI button is continuing pressed...if operator leave HMI button then it should be stopped....
Another issue is that...As soon as home position is reached...they don't give external command to my robot...So home position is reached but my interrupt program not completed yet...it's never came at resume instructions....so in some case some malfunctions are there....
Any ideas what to add if my robot is reached at home position then i will cancel my interrupt routine and send back to main program..
Thank you for your precautions...
But Here There is only one program but Customer want Small small parts of this program...so he can put PLC in manual mode and can go to each and every position by pressing the HMI screen...and then come back to the Safe position such as home..by pressing home button..
Also i need to give them access if any of them position can accessible then they can move from eachother...
I want to take precautions and make sure that there is no collision happens..if operator doing something wrong on HMI Screen...
Hello everyone...
Thank you in advance for any help...
Im using KUKA krc4 KSS 8.6.9
I have different program conditions...
Suppose I'm at one position reached...and someone by mistaken given different program no...My robot can physically go but it's collision happens..
So i want to do interlock for that and Generate error and send the signal to PLC that program no. Invalid or movement not possible ....
Pls help me im new in kuka programming...
Thank you very much...for your help...
Im just confused....im working with first time on kuka project...
Your second options works fine..
I just put PGNO=0 after Loop and it's working Fine....
DEF CELL ( )
DECL INT CURR_POS ;EXT EXAMPLE1 ( )
;FOLD INIT
DECL CHAR DMY[3]
DMY[]="---"
;ENDFOLD (INIT)
;FOLD BASISTECH INI
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
BAS (#INITMOV,0 )
;ENDFOLD (BASISTECH INI)
;FOLD CHECK HOME
$H_POS=XHOME
IF CHECK_HOME==TRUE THEN
P00 (#CHK_HOME,#PGNO_GET,DMY[],0 ) ;Testing Home-Position
ENDIF
;ENDFOLD (CHECK HOME)
A:
;FOLD PTP HOME Vel= 100 % DEFAULT;%{PE}%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT
$H_POS=XHOME
PDAT_ACT=PDEFAULT
BAS (#PTP_DAT )
FDAT_ACT=FHOME
BAS (#FRAMES )
BAS (#VEL_PTP,100 )
PTP XHOME
;ENDFOLD
CURR_POS=0
INTERRUPT OFF 4
INTERRUPT DECL 4 WHEN $IN[51]==TRUE DO GO_HOME_N ()
CURR_POS=0
INTERRUPT ON 4
;FOLD WAIT Time= 1.0 sec ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.logics.wait; Time=1.0
;ENDFOLD
WAIT SEC 1.0
;ENDFOLD
;FOLD AUTOEXT INI
P00 (#INIT_EXT,#PGNO_GET,DMY[],0 ) ; Initialize extern mode
;ENDFOLD (AUTOEXT INI)
LOOP
P00 (#EXT_PGNO,#PGNO_GET,DMY[],0 )
SWITCH PGNO ; Select with Programnumber
CASE 10
P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
LH_PICK_N() ; Call User-Program
CASE 20
P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
RH_PICK_N() ; Call User-Program
CASE 160
P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
H_T_WELD_N() ;EXAMPLE3 ( ) ; Call User-Program
CASE 30
P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
WELD_POS_1_N() ;EXAMPLE3 ( ) ; Call User-Program
CASE 40
P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
;EXAMPLE3 ( ) ; Call User-Program
WELD_POS_2_N() ;EXAMPLE3 ( ) ; Call User-Program
CASE 80
P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
;EXAMPLE3 ( ) ; Call User-Program
WELD_POS_3_N() ;EXAMPLE3 ( ) ; Call User-Program
CASE 90
P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
;EXAMPLE3 ( ) ; Call User-Program
WELD_POS_4_N() ;EXAMPLE3 ( ) ; Call User-Program
CASE 120
P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
;EXAMPLE3 ( ) ; Call User-Program
WELD_POS_5_N() ;EXAMPLE3 ( ) ; Call User-Program
CASE 130
P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
;EXAMPLE3 ( ) ; Call User-Program
WELD_POS_6_N() ;EXAMPLE3 ( ) ; Call User-Program
CASE 150
P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
;EXAMPLE3 ( ) ; Call User-Program
WELD_POS_7_N() ;EXAMPLE3 ( ) ; Call User-Program
CASE 250
P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
;EXAMPLE3 ( ) ; Call User-Program
WELD_6_TO_7_N() ;EXAMPLE3 ( ) ; Call User-Program
CASE 170
P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
WELD_POS_8_N()
CASE 180
P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
LH_DROP_N()
CASE 190
P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
RH_DROP_N()
CASE 210
P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
W_T_HOME_N()
End Switch
ENDLOOP
This is my code for external cell do i need to change the interrupt location after Autoinitialization.......?
hello RemoteKRC
...then what precautions you have take and what you changed your interrupt location ??