You are all responsible, thanks

The robot is to search for a part on a path. The part is detected by means of a

sensor at input 15. Once the part has be en found, the robot is not to continue

to the end point of the path , but to return to the in terrupt position and pick up

the part. The main program is then to be resumed.

DEF PROG()

INI

...

INTERRUPT DECL 21 WHEN $IN[15] DO FOUND()

PTP HOME

...

SEARCH()

...

END

DEF SEARCH()

INTERRUPT ON 21

SPLINE

SPL START_SEARCH

SPL IN_BETWEEN

SPL END_SEARCH

ENDSPLINE

WAIT FOR TRUE

...

END

DEF FOUND()

INTERRUPT OFF 21

BRAKE

LIN $POS_INT

... ;The robot grips the found part.

RESUME

END

Hi panic,

I need to detect the position of a work piece and then run on it.

robot moves forward, input a signal after hitting the work piece, stops,records the position of the work piece, and then execute other instruction.

How to do robot can stop before end point?

Many thanks,

Hi my friends,

Can the "LIN" instruction stop on the path to record the pos_act then execute the another instruction?

My meaning is the LIN instruction can stop on the way to the end point?

Best,

Hi panic, Your reply is very valuable. Does the document of "UserTech" mean specific instructions like as "KST_GlueTech_40_en" and "KST_ServoGun_FC_21_en"? and also I do not know where to get "Configuration of Kinematic Systems".KUKA company did not seem to react quickly enough.

Thank you again.i got it about BCO question.

But do you know some documents to explain the system files such as bas.src etc.?

Sorry i have gotten the READ FIRST on READ FIRST....

Hi panic,Thanks for your answer!

If the Robot is not int ON_PATH and IN_HOME and Can it make BCO in AUT EX mode such as PTP movement? If so how to do it or which document to introduce the method?

Whether have documents to learn these files in KRC/System and KRC/TP such as masref_main.src and BrakeTestRea.dat?

I can not open the READ FIRST website (https://www.robot-forum.com/ro…a-robot-forum/read-first/). it say Page Not Found. Would you please help me to send to my email (lihaaooo@gmail.com)?

Thank you so much!

Hello, which document to introduce X12 pins?

Hi guys. I'm newbie in robotic area. Robot must be ON_PATH and IN_HOME to start via PLC. BCO is prerequisite. But how can i to do it if on AUT_EXT modle not on T1 or T2? where can i get some document to get it ? Thank you very much!