Hello.
Is $PRO_STATE1 == #P_ACTIVE in the moment when main program goes to subprogram (or subprogram to main program)? In any operating mode $MODE_OP (T1, T2, aut, ext)?
KRC4 V8.3.30
Hello.
Is $PRO_STATE1 == #P_ACTIVE in the moment when main program goes to subprogram (or subprogram to main program)? In any operating mode $MODE_OP (T1, T2, aut, ext)?
KRC4 V8.3.30
My example code rsi_HG1() is in interrupt, and it terminating the main run motion (BRAKE):
Does your RSI motion have to be a sensor-guided motion, or could it be a superposed motion?
a sensor-guided motion
... Then the IF block at the main level would call the actual RSI subroutine, if the flag were set, followed by a move to the recorded $POS_INT before proceeding.
yes, thank you, this should work, but only in "IF block". I need to activate RSI from anywhere in the main program and return
I can activate RSI in an interrupt.
I checked it in the Single Step mode (Program run mode. The program is executed with a stop after each program line.). There is no problem before line RSI_MOVECORR(). I get data from the robot to an external PC. But when the command RSI_MOVECORR executing - KSS02867.
I need to activate RSI_MOVECORR from anywhere in the main program, and after exiting RSI_MOVECORR needs to return to the line from which I called the interrupt (RSI_MOVECORR). And needs to repeat it many time
DEF rsi_HG1()
decl int i
DECL INT ret ; Return value for RSI commands
DECL INT CONTID ; ContainerID
DECL real Limit_min ; Limit min RSI
DECL real Limit_max ; Limit max RSI
DECL real Limit_ang ; Limit ang RSI
; RSI settings
ret = RSI_SETPUBLICPAR(0,"GLOBAL","MaxTrans",10000)
ret = RSI_SETPUBLICPAR(0,"GLOBAL","MaxRotAngle",720)
Limit_min=-6500.0 ; Limit min RSI
Limit_max=6500.0 ; Limit max RSI
Limit_ang=730.0 ; Limit ang RSI
$SEN_PINT[20]=0;
;--- Create RSI Context ---
ret=RSI_CREATE("RSI_Ethernet_HG1.rsi",CONTID)
IF (ret <> RSIOK) THEN
HALT
ENDIF
; Start RSI execution
;ret=RSI_ON(#absolute)
ret=RSI_ON(#relative)
IF (ret <> RSIOK) THEN
HALT
ENDIF
ret=RSI_SETPUBLICPAR(CONTID,"POSCORR1","LowerLimX", Limit_min);
ret=RSI_SETPUBLICPAR(CONTID,"POSCORR1","LowerLimY", Limit_min);
ret=RSI_SETPUBLICPAR(CONTID,"POSCORR1","LowerLimZ", Limit_min);
ret=RSI_SETPUBLICPAR(CONTID,"POSCORR1","UpperLimX", Limit_max);
ret=RSI_SETPUBLICPAR(CONTID,"POSCORR1","UpperLimY", Limit_max);
ret=RSI_SETPUBLICPAR(CONTID,"POSCORR1","UpperLimZ", Limit_max);
ret=RSI_SETPUBLICPAR(CONTID,"POSCORR1","MaxRotAngle", Limit_ang);
wait sec 0
RSI_MOVECORR() ; if $SEN_PINT[20]==1 then out from RSI_MOVECORR
wait sec 0.1
$SEN_PINT[20]=0;
flag_interr12=0
END
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Thank you
have you tested your RSI config in a normal program first?
Yes, I tested my RSI subprogram not in interrupt. It is run normal.
But command rsi_movecorr() is not activate in interrupt.
Hello.
Is it possible to use command rsi_movecorr() in interrupt subprogram?
When interrupt is on, rsi will be created and enabled, then command rsi_movecorr() is used. But there is a problem: "KSS02867" invalid move Interrupt.
Please, help.
KRC4 V8.3.30
Hello, you need
KUKA Force Torque Control + hardware: force-torque sensor (not low cost)
or
KUKA Robot Sensor Interface + joystick. Like this:
Thank you very much
Maybe I did not understand the meaning of the variable?
It calculates how much is left up to the singularity? Or is it a discrete variable, which detect are we in the state of singularity or not?
Fubini, thank you.
But, The variable is write-protected?
Hello.
Is there a function in KUKA to warn of approaching to the singularity positions? For example, I need to have a signal when position is less than X degrees to the alpha 5 or Y mm to the alpha 2.
Thank you.
KRC4 V8.3.22
Sorry,
KRC4 V8.3.22
Is this function in the system default?
Hello.
I need an algorithm for calculating the status and the turn from the axes
Maybe there is a ready function in KRL?
I cant read this topic ((
https://www.robot-forum.com/robotforum/kuk…nd-state-(-s-)/
The topic or board you are looking for appears to be either missing or off limits to you.
Please, help
thanks to all
It is may be usefull: KUKA and Matlab https://sourceforge.net/projects/kct/. There are some functions for inverse kinematics
Hello!
KRC4 V8.3.22
UserTech 3.2.0
My question is about Programming technology keys in UserTech.
Can I use keys as indicators? I mean that, if global variable is changed - picture (icon) of key is changed too. Monitoring of changes of variable must working anytime (for example, in sps).
Now I can change icon key only by manipulations with button (press, release and others).