# Posts by Ruddock984

Hi,

Thanks a lot for that.

Is it possible to just slow down the below bit:

Lin_rel {z - 300} ; run 300 mm in negative z direction starting at the current position

Hi,

So I found this code below on this forum and I think it is along the lines of what I need. It was detailed that if I abort the movement and do different things. I should use this. I'm guessing is this case IRSTOP() is the interrupt program that runs when input is on.

1st point is PTP home (in my case this will be my 0 load position)

Movement() will be the subprogram that that moves robot down and turns interrupt on. Not sure about turning it off and when.

Let me know if im on the right track with this.

Thanks

Hi,

Can the velocity of this movement be changed then?

Thanks a lot, that really helps.

Just struggling to understand the best way to work an interrupt

Hi,

What I mean by continuous motion when i was doing this on the UR robots, I was able to set the tool to move in the X, Y or Z direction. I could then either stop this by a distance from 1st way-point or an input. In my case, it was a digital input which stopped the robot moving in the z direction

Sorry if I wasn't clear on this but hopefully this clears it up.

In terms of the kuka, perhaps i cant sent the robot to move in the Z direction. I will have to create 2 points and use interrupt. Creating the 1st point is no issue but the second point which has to be further in the Z- direction is an issue due the tested part being in the way and I don't want to put excess load on it. Can I set a distance at which the 2nd point is away from the 1st, say 300mm Z- and then use interrupt to stop motion.

The program is really only 3 way points, so 1 at 0 position, the other in Z- and the other Z+. so 450N down and 450N up.

Thanks

Hi,

No not running tiny motions.

I see that I need to use interrupts to stop motion. Can the motion, not be a programmed lin point rather a continuous move in z direction and the input with be the endpoint as this test is a fatigue cycle test on an assembly which over time will move down depending on what happens during the test hence why I dont want to use Lin move

Hi,

I have never used interrupts before so don't know much about them. the program needs to be looped as it is running 25k times as part of a test. Is there any guidance on interrupts that you can give me?

Thanks

Hi,

Eventually with the on-going pandemic, I am able to get back to this. I was able to get optocoupler working and now load cell is triggering input into robot. In terms of programming, I was looking to use a Repeat Until loop. but I don't want to repeat set LIN points, i want to repeat a Z- or Z+ direction until DI1 is turned on.

I have Universal Robots UR10 and have done it on them

Any help much appreciated

• ## KRC4 startup

prior to this issue, i was getting major electrical maintenance due notifications and was told when the robot was commissioned the 2nd time that batteries need changed. i wasn't involved in the original set up and have no idea if the robot has been maintained at all. my guess it that it wasnt as it has sat with no use for near 4 years

• ## KRC4 startup

rest of error codes

Marcelo Reboucas have no experience with installing xml file although robot does contain beckoff I/O

• ## KRC4 startup

that was the only messages i got. no attempt to activate different WOV projects. Robot was fully rebooted after playing with cables

kss 8.3

• ## KRC4 startup

the robot has been running before last week, powering up this week is showing all these errors

• ## KRC4 startup

Hi, checked cables and all looks good. Attached is more error codes.

Not too sure about checking workvisual as never have used this

• ## KRC4 startup

The error in the attached image shows on startup of the robot and drives wont enable and cant change between T1,T2 and auto.

## Images

Hi,

i want to be able to use the existing modules on the robot hence trying to use the 1809. i could probably use a relay to switch voltages but liked the idea of optocoupler.

Could you provide more info on ethercat modules for arduino like setup and what modules work

my question again:

what type of sensor do you want to use?

Until now all discussion was quite interesting, but useless)

Load cell is handle by an arduino. At a certain force, a 5v output is set to high and want to use the output on Arduino to turn on a input on the beckoff el1809 which has a '1' signal voltage of 11-30V

Built the the circuit in previous posts shown below on a simulator and only getting an output of 9V

That should work now