Posts by knowledgesharing

    For palletizing I am using for loop. what will happen to the for
    1) If I am pressing the emergency stop inbetween the loop. will it continue from where it was left or will it start from first?
    2) If I am cancelling the programe inbetween and starting? :help:


    or do u have anyother idea for overcoming this problem?


    Thank you :merci:

    INTERUPT DECL 2 WHEN S1=TRUE DO Huntframe()
    PTP P3
    LIN P4


    INTERUPT ON 2
    HUNTMOVE()
    framehunted.z = framehunted.z + 4
    LIN framehunted
    FETCH() ; A sub program for fetching
    .
    .
    .
    END


    DEF huntframe()
    INTERUPT OFF 2
    BRAKE
    framehunted = $POS_INT ;framehunted=E6pos
    RESUME
    END


    DEF Fetch()
    WAIT 0SEC
    ZYLINDERFETCH() ; A subprogram for fetching my metal frame.
    END


    DEF HUNTMOVE()
    LIN P5
    WAIT 0 SEC
    If S2==TRUE THEN ; If my robot travels till to S2 then It should stop.
    HALT
    END IF
    LIN P6
    WAIT 0SEC
    END


    Is this OK? Now will it move to framehunted or...?
    Forgeur : My s1 sensor is on the gripper for part searching and S2 sensor is near to floor for filling the metalframe and stoping the robot.
    Thank you

    Hi,
    Sceanario:
    I am searching(wanna depalletize) for a metal frame which is palletized vertically. I am trying to explain with a small rough figure.
    Point P5 is above and from here my robot moves down(zaxis).
    I am having a sensor S1 in griper AND Sensor S2 for checking the metal frame is there.
    Point P6 is below my metal frames



    -p5
    -
    -
    -----------------------
    -----------------------
    S2 -----------------------
    -------------p6----------


    My program environment: (wrote only the important part only, not all)


    INTERUPT DECL 2 WHEN S1=TRUE DO Huntframe()
    PTP P3
    LIN P4
    LIN P5
    INTERUPT ON 2
    WAIT 0 SEC
    If S2==TRUE THEN ; If my robot travels till to S2 then It should stop.
    HALT
    END IF
    LIN P6
    framehunted.z = framehunted.z + 4
    LIN framehunted
    FETCH() ; A sub program for fetching


    DEF huntframe()
    INTERUPT OFF 2
    BRAKE
    framehunted = $POS_INT ;framehunted=E6pos
    RESUME
    END


    DEF Fetch()
    WAIT 0SEC
    ZYLINDERFETCH() ; A subprogram for fetching my metal frame.
    END


    My question : The robot will travel to P4 then to P5 Then the interupt will be ON while moving to point P6.
    1)AFTER RESUMING FROM THE INTERUPT WILL IT GO TO POINT FRAMEHUNTER OR TO THE POINT P6.? :help: I need to goto Point framehunter with +4 zaxis. Is this OK or ? :help:
    2)The area where I have the IF condition for S2. IS IT CORRECT. or should I have to give in huntframe()? :help:
    3) Is the programme is correct for hunting frame or do you have any better IDEA? :help:
    Thank you :merci:

    Hi,
    Thanks for your reply. Can you please your line "However you can using some system variables but software based "
    1.What kind of system variables I can use here, to stop my conveyor(which is in sps.sub), if emergency stop is pressed? Can you please explain with an example, It would be great for all of us?
    2. why are you saying that software based isn't proper security method?
    Thank you for your patience :merci:

    Hi,
    I have my programs in KRC and I am also controlling a conveyor by KRC2 and I have wrote a program for conveyor in SUB.src .
    1. What will happen to the kuka robot if emergency stop is pressed? Is that it will continue from the line where it was emergency stop released? :help:


    2. what will happen to the conveyor(where I have wrote the programe in sub.src )? will it get stop in the line where the emergency stop was pressed? will it continue from the same line where the emergency stop was released? :help:


    I have also connected my door with emergency stop. I have a door closed acknowledgement button.
    3. I have to give door closed emergency button acknowledgement signal along with emergency release button. How to intergerate this in the program? :help:


    Thank you :merci:


    ------- or should I Have write a separate programe for emergency stop?

    Hi Forgeur,
    Thank you for your reply :merci:.
    As far I understood your reply.
    $Flag[1]= will be true as soon the robot comes to point p1. what will happen to this falg1, if the robot moves to to next point p2? Is that $Flag[1] will be true? :help:when will falg[1] will turn false? :help: For making this Flag[1] false should I have again make it false? :help:


    $cycflag will be true as the two inputs will be true and it will false if any of the one signal is false. :help:


    PTP p1
    DUMMY_VARIABLE=TRUE
    PTP P2 , As soon as the robot reaches P1 the dummy variable will be true. What will happen to this variable(dummy_variable) if the robot goes to point P2? when will this variable dummy_variable will be false? :help:


    Thank you :merci:

    Thank you for your reply. The problem is, I need to activate a signal after the robot reaches point abcdP5. so here should i use dummy variable or flag or cyclic flag?????
    what is the difference between flag and cyclic flag?

    Hi,
    I wanna to mark a position.
    ---when comes to the point (abcdp5) I need to activate and another bool output.
    ---how to take out a boolean signal as soon as the robot comes to the point.
    ---Can I use a flag or cyclic flag or dummy variable? I am sure about the difference between flag, cyclic flag and dummy variable? can you please tell the difference? :help:
    GLOBAL DEF ABC()
    .
    .
    .
    PTP ABCDP5 ;(when the robot reached this point I need to send out a boolean signal)
    DUMMY_VARIABLE=TRUE ;(?????will this work or with flag is better, is that when robot moves from abcdp5... dummy_variable will be false)
    .
    .
    END


    GLOBAL XYZ()
    .
    .
    .
    IF (DUMMY_ VARIABLE == TRUE) THEN ;(i am using that dummy_variable here from abc()
    CYLINDER FORWARD == TRUE
    END IF
    .
    .
    END


    hope i have explained. If you not clear plz reply. I can also explain more. can you please help.
    Thank you. waiting for your reply. thank you :merci: