It finally worked! My problem was that the trigger for the camera and robots was triggering at the same time and it took a significant 900ms for the camera to process the picture, so ended up creating an array buffer and effectively 'moving' or delaying the trigger to the next, and then editing robot calibration and tracking distances back one flight and it finally worked 
Thanks SkyeFire
I ended up commenting out 'BRAKE' command in IR_STOPM just after 'If ($STOPMESS==TRUE)' and that seemed to do the job. The robot stops on any of my e-stops and then restarts the program again.
In EXT mode you can use IO signals to restore drives power, acknowledge messages and start program.
I've been trying to do this also in EXT mode. According to the manual the signals and their order on going high and low is exactly the same at when switching to EXT from , for example, T1.
But even after the signals had gone in, the STOPMESS is still active and the robot does not restart the program or anything at all.
Is there anything extra I need adding to IR_STOPM or somewhere else to recover?
Do you guys know if there is a way to bypass the 'Request Control' popup window on the pendant when you're connected to it through WorksVisual?
Why not block the sync signal unless/until the camera has a valid measurement?
Ffs...why didn't I think of this...?!! 
To clarify, the robot gets the sync trigger every second, its the same trigger that triggers the camera to take a photo and send, if any, positional data. As every second one of many shoots on the conveyor goes by where the product should be present.
If I understand the manual correctly, isn't the Conveyor.skip is the command that tell the robot to pick or skip? As in normal operation the pointer generally sits in that command until it sees a product and then does the movement and back to the skip command via the Pre position.
The weird thing is that when I was simulating the 0 coordinate in plc, and at the same time rising the Input high, a couple of times it did in fact stop for a second and carried on 'picking'. But mostly it just sends the pointer jumping between Pre and Conv.skip uncontrollably with the message of max conveyor distance reached and the robot just stops. The program running, but the robot not moving
Now I don't understand whether I am sending the 0 for too long and just got lucky with a couple of really quick position sends, or am I still doing something wrong?
Also, I tried preventing the pointer to get to the Conv.skip by putting a Wait rCamera>0 statement but it doesn't even stop there, just goes into error straight away, in fact, anything I put there pretty much either ignored or just sends it into error
So, in the PLC I added a bit of code to set the skip signal high when the Y value is at 0 and low when else. And as soon as I input a 0 I get an error: 'Wait for sync signal aborted because maximum conveyor distance reached'
Am I doing something wrong?
OOOOOOOOh, I'll try that now, but will need to wait for more product at the end of the week to test that properly
I am still in the testing mode, slowly adding start and stop bits.
The camera is sending data to PLC and then I send the split data to Robot. For clarity I named it rCameraY as it is converted to real in the config file.
rCameraY is a single variable and for the time the only one I care about as the robot has to go to the Y position given by the camera and then make a small movement in the Y+ while tracking once the trigger has been triggered. This is the only time the robot re4cieves data. But when the trigger is triggered and there is no data all i am trying to do is make robot not to go to the zero coordinate on the belt.
I've tried encasing the DLIN movement in an IF rCameraY>0 statement but as soon as it receives 0 the robot just goes in the skip conveyor mode and never recovers
Hi, Sorry for the late reply, been a bit busy.
Could you elaborate a little, maybe with an example? I am very new to KUKA, so a lot of seemingly simple things are a little difficult at times.
Thanks in advance
Hi, I have a KR10 R900 robot running KSS 8.6.6
I've been trying to get Conveyor Tech to work and for most part it does. The system consists of a camera that sends the robot a coordinate to go to, while following the conveyor, and it does.
But my problem is how can I make the robot do nothing when a zero coordinate is given, i.e. camera sees nothing, and then carry on with its following. Any suggestions??
I've included the code below, up to the case statement where the movement is initiated.
;FOLD DECLARATIONS
DECL INT ret
DECL INT err
;DECL CHAR JUMP
;ENDFOLD (DECLARATIONS)
;FOLD INI
;FOLD BASISTECH INI
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
BAS (#INITMOV,0 )
;ENDFOLD (BASISTECH INI)
;FOLD USER INI
;Make your modifications here
;ENDFOLD (USER INI)
XPick=XPickNominal
;ENDFOLD (INI)
;FOLD CONV INI
CONV_REINIT_MD()
;Alarm outputs initialisations
$OUT[Z_EMS_OUT_NBR[1]]=TRUE
$OUT[Z_DIST_ALARM_OUT_NBR[1]]=TRUE
$OUT[Z_EMS_OUT_NBR[2]]=TRUE
$OUT[Z_DIST_ALARM_OUT_NBR[2]]=TRUE
$OUT[Z_EMS_OUT_NBR[3]]=TRUE
$OUT[Z_DIST_ALARM_OUT_NBR[3]]=TRUE
$OUT[Z_EMS_OUT_NBR[4]]=TRUE
$OUT[Z_DIST_ALARM_OUT_NBR[4]]=TRUE
$OUT[Z_EMS_OUT_NBR[5]]=TRUE
$OUT[Z_DIST_ALARM_OUT_NBR[5]]=TRUE
;Interrupts Conveyor 1
INTERRUPT DECL Z_ALARM_DIST_INT_NBR[1] WHEN $SEN_PREA_C[Z_SEN_PREA_NBR[1]]>=R_ALARM_DIST_CONV[1] DO INT_CONV_ALARM(1)
INTERRUPT DECL Z_MAX_DIST_INT_NBR[1] WHEN $SEN_PREA_C[Z_SEN_PREA_NBR[1]]>=R_MAX_DIST_CONV[1] DO INT_CONV_MAX_DIST(1)
INTERRUPT DECL Z_EMS_INT_NBR[1] WHEN $STOPMESS==TRUE DO INT_CONV_EMS(1)
;Interrupts Conveyor 2
INTERRUPT DECL Z_ALARM_DIST_INT_NBR[2] WHEN $SEN_PREA_C[Z_SEN_PREA_NBR[2]]>=R_ALARM_DIST_CONV[2] DO INT_CONV_ALARM(2)
INTERRUPT DECL Z_MAX_DIST_INT_NBR[2] WHEN $SEN_PREA_C[Z_SEN_PREA_NBR[2]]>=R_MAX_DIST_CONV[2] DO INT_CONV_MAX_DIST(2)
INTERRUPT DECL Z_EMS_INT_NBR[2] WHEN $STOPMESS==TRUE DO INT_CONV_EMS(2)
;Interrupts Conveyor 3
INTERRUPT DECL Z_ALARM_DIST_INT_NBR[3] WHEN $SEN_PREA_C[Z_SEN_PREA_NBR[3]]>=R_ALARM_DIST_CONV[3] DO INT_CONV_ALARM(3)
INTERRUPT DECL Z_MAX_DIST_INT_NBR[3] WHEN $SEN_PREA_C[Z_SEN_PREA_NBR[3]]>=R_MAX_DIST_CONV[3] DO INT_CONV_MAX_DIST(3)
INTERRUPT DECL Z_EMS_INT_NBR[3] WHEN $STOPMESS==TRUE DO INT_CONV_EMS(3)
;Interrupts Conveyor 4
INTERRUPT DECL Z_ALARM_DIST_INT_NBR[4] WHEN $SEN_PREA_C[Z_SEN_PREA_NBR[4]]>=R_ALARM_DIST_CONV[4] DO INT_CONV_ALARM(4)
INTERRUPT DECL Z_MAX_DIST_INT_NBR[4] WHEN $SEN_PREA_C[Z_SEN_PREA_NBR[4]]>=R_MAX_DIST_CONV[4] DO INT_CONV_MAX_DIST(4)
INTERRUPT DECL Z_EMS_INT_NBR[4] WHEN $STOPMESS==TRUE DO INT_CONV_EMS(4)
;Interrupts Conveyor 5
INTERRUPT DECL Z_ALARM_DIST_INT_NBR[5] WHEN $SEN_PREA_C[Z_SEN_PREA_NBR[5]]>=R_ALARM_DIST_CONV[5] DO INT_CONV_ALARM(5)
INTERRUPT DECL Z_MAX_DIST_INT_NBR[5] WHEN $SEN_PREA_C[Z_SEN_PREA_NBR[5]]>=R_MAX_DIST_CONV[5] DO INT_CONV_MAX_DIST(5)
INTERRUPT DECL Z_EMS_INT_NBR[5] WHEN $STOPMESS==TRUE DO INT_CONV_EMS(5)
$ADVANCE=1
;ENDFOLD CONV INI
;JUMP:
; Clear Buffer
ret = CONV_DELETE_ALL_WPS(1,err)
; CP_VEL_MODE should be 5, so DLIN can be used
$CP_VEL_MODE=5
; Move to home position
;FOLD PTP HOME Vel= 100 % DEFAULT;%{PE}%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT
$BWDSTART = FALSE
PDAT_ACT=PDEFAULT
FDAT_ACT=FHOME
BAS (#PTP_PARAMS,100 )
SET_CD_PARAMS( 0)
$H_POS=XHOME
PTP XHOME
;ENDFOLD
WAIT FOR rCameraY>0
; Initialise Conveyor
;Fold Conveyor.INI_OFF LinConveyor1 ;%{PE}
;Fold ;%{h}
;Params IlfProvider=KukaRoboter.Conveyor.InlineForms.ConveyorIniOffInlineForm; ConveyorName=LinConveyor1; ConveyorId=1
;EndFold
CONV_INI_OFF(1)
;EndFold
; Switch ON Conveyor
;Fold Conveyor.ON LinConveyor1 ;%{PE}
;Fold ;%{h}
;Params IlfProvider=KukaRoboter.Conveyor.InlineForms.ConveyorOnInlineForm; ConveyorName=LinConveyor1; ConveyorId=1
;EndFold
CONV_ON(1)
;EndFold
; Start Conveyor Tracking
;Fold Conveyor.FOLLOW LinConveyor1, Movement 1, Cancel on: Max_time 60, Input 1, Input-Level TRUE, Flag 1, Flag-Level TRUE, WaitDist 1300, MaxDist 1500 ;%{PE}
;Fold ;%{h}
;Params IlfProvider=KukaRoboter.Conveyor.InlineForms.ConveyorFollowInlineForm; ConveyorName=LinConveyor1; ConveyorId=1; Movement=1; Cancel on: Max_time=60; Input=1; Input-Level=TRUE; Flag=1; Flag-Level=TRUE; WaitDist=1300; MaxDist=1500
;EndFold
CONV_FOLLOW (1, 1, 60, 1, TRUE, 1, TRUE, 1300, 1500)
CONV_MOV (1, 1)
;EndFold
; Stop Conveyor Tracking
;Fold Conveyor.Quit LinConveyor1, Stop after error FALSE, Reset SEN_PREA_C TRUE ;%{PE}
;Fold ;%{h}
;Params IlfProvider=KukaRoboter.Conveyor.InlineForms.ConveyorQuitInlineForm; ConveyorName=LinConveyor1; ConveyorId=1; Stop after error=FALSE; Reset SEN_PREA_C=TRUE
;EndFold
CONV_QUIT(1,FALSE)
CONV_RESET_SEN_PREA(1)
;EndFold
LOOP
;IF rCameraY==0 then
;GOTO JUMP
;ENDIF
;FOLD LIN Pre Vel=2 m/s CPDAT12 Tool[1]:MainTool Base[0] ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=Pre; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT12; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=LIN
;ENDFOLD
$BWDSTART = FALSE
LDAT_ACT = LCPDAT12
FDAT_ACT = FPre
BAS(#CP_PARAMS, 2.0)
SET_CD_PARAMS (0)
PTP XPre
;ENDFOLD
;Fold Conveyor.Skip LinConveyor1, Skip to part index 1, Movement 1, Cancel on: Max_time 60, Input 1, Input-Level TRUE, Flag 1, Flag-Level TRUE, WaitDist 1300, MaxDist 1500 ;%{PE}
;Fold ;%{h}
;Params IlfProvider=KukaRoboter.Conveyor.InlineForms.ConveyorSkipInlineForm; ConveyorName=LinConveyor1; ConveyorId=1; Skip to part index=1; Movement=1; Cancel on: Max_time=60; Input=1; Input-Level=TRUE; Flag=1; Flag-Level=TRUE; WaitDist=1300; MaxDist=1500
;EndFold
CONV_SKIP(1, 1, 1, 60, 1, TRUE, 1, TRUE, 1300, 1500)
CONV_MOV(1, 1)
;EndFold
;Fold Conveyor.Quit LinConveyor1, Stop after error FALSE, Reset SEN_PREA_C TRUE ;%{PE}
;Fold ;%{h}
;Params IlfProvider=KukaRoboter.Conveyor.InlineForms.ConveyorQuitInlineForm; ConveyorName=LinConveyor1; ConveyorId=1; Stop after error=FALSE; Reset SEN_PREA_C=TRUE
;EndFold
CONV_QUIT(1,FALSE)
CONV_RESET_SEN_PREA(1)
;EndFold
ENDLOOP
; Move back to home position
;FOLD PTP HOME Vel=10 % DEFAULT ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.basistech.inlineforms.movement.old; Kuka.IsGlobalPoint=False; Kuka.PointName=HOME; Kuka.BlendingEnabled=False; Kuka.MoveDataPtpName=DEFAULT; Kuka.VelocityPtp=10; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; IlfCommand=PTP
;ENDFOLD
$BWDSTART = FALSE
PDAT_ACT = PDEFAULT
FDAT_ACT = FHOME
BAS(#PTP_PARAMS, 10.0)
SET_CD_PARAMS (0)
PTP XHOME
;ENDFOLD
END
DEF CONV_MOV(Z_CONV_NBR:IN,Z_MOV_NBR:IN)
;FOLD INI CONV_MOV
INT Z_CONV_NBR,Z_MOV_NBR
IF B_CALL_CONV_MOV THEN
CONTINUE
$OUT[Z_DIST_ALARM_OUT_NBR[1]]=TRUE
CONTINUE
$OUT[Z_DIST_ALARM_OUT_NBR[2]]=TRUE
CONTINUE
$OUT[Z_DIST_ALARM_OUT_NBR[3]]=TRUE
CONTINUE
$OUT[Z_DIST_ALARM_OUT_NBR[4]]=TRUE
CONTINUE
$OUT[Z_DIST_ALARM_OUT_NBR[5]]=TRUE
CONTINUE
$OUT[Z_EMS_OUT_NBR[1]]=TRUE
CONTINUE
$OUT[Z_EMS_OUT_NBR[2]]=TRUE
CONTINUE
$OUT[Z_EMS_OUT_NBR[3]]=TRUE
CONTINUE
$OUT[Z_EMS_OUT_NBR[4]]=TRUE
CONTINUE
$OUT[Z_EMS_OUT_NBR[5]]=TRUE
B_QUIT_BECAUSE_MAX_DIST=FALSE
B_QUIT_BECAUSE_EMS=FALSE
SWITCH Z_CONV_NBR
CASE 1 ;*** CONVEYOR 1 ***
CONTINUE
IF NOT $T1 THEN
INTERRUPT ON Z_ALARM_DIST_INT_NBR[1]
INTERRUPT ON Z_MAX_DIST_INT_NBR[1]
INTERRUPT ON Z_EMS_INT_NBR[1]
ENDIF
SWITCH Z_MOV_NBR
;ENDFOLD INI CONV_MOV
;FOLD CONVEYOR 1 MOVEMENT GROUP 1
CASE 1
CONTINUE
WAIT FOR NOT $T1
; Calculate positions
XProcess.Y = rCameraY
XProcess02=XProcess
XProcess02.Y = XProcess.Y + 10
; Move to positions using DLIN
;FOLD DLIN.MOVE Process Vel.CP=15m/s Vel.Ori1=2000deg/s Vel.Ori2=2000deg/s Acc.CP=50m/s^2 Acc.Ori1=5000deg/s^2 Acc.Ori2=5000deg/s^2 Tool[1]:MainTool Base[1]:FlangeBase(LinConveyor1) CONT
;FOLD ;%{h}
;Params IlfProvider=kukaroboter.conveyor.inlineforms.dlin.dlinmoveinlineform; Kuka.IsGlobalPoint=False; Kuka.PointName=Process; Kuka.Dlin.VelCp=15; Kuka.MoveDataName=XProcess; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; Kuka.Dlin.VelOri1=2000; Kuka.Dlin.VelOri2=2000; Kuka.Dlin.AccCp=50; Kuka.Dlin.AccOri1=5000; Kuka.Dlin.AccOri2=5000; Kuka.Dlin.Cont=CONT
;ENDFOLD
$BWDSTART = FALSE
LDAT_ACT = LXProcess
FDAT_ACT = FProcess
CP_DYNLIN(15,2000,2000,50,5000,5000)
SET_CD_PARAMS (0)
LIN XProcess C_DIS C_DIS
$OUT[234]=TRUE
;ENDFOLD
;FOLD DLIN.MOVE Process02 Vel.CP=15m/s Vel.Ori1=2000deg/s Vel.Ori2=2000deg/s Acc.CP=50m/s^2 Acc.Ori1=5000deg/s^2 Acc.Ori2=5000deg/s^2 Tool[1]:MainTool Base[1]:FlangeBase(LinConveyor1)
;FOLD ;%{h}
;Params IlfProvider=kukaroboter.conveyor.inlineforms.dlin.dlinmoveinlineform; Kuka.IsGlobalPoint=False; Kuka.PointName=Process02; Kuka.Dlin.VelCp=15; Kuka.MoveDataName=XProcess; Kuka.VelocityPath=2; Kuka.CurrentCDSetIndex=0; Kuka.MovementParameterFieldEnabled=True; Kuka.Dlin.VelOri1=2000; Kuka.Dlin.VelOri2=2000; Kuka.Dlin.AccCp=50; Kuka.Dlin.AccOri1=5000; Kuka.Dlin.AccOri2=5000; Kuka.Dlin.Cont=empty
;ENDFOLD
$BWDSTART = FALSE
LDAT_ACT = LXProcess
FDAT_ACT = FProcess02
CP_DYNLIN(15,2000,2000,50,5000,5000)
SET_CD_PARAMS (0)
LIN XProcess02
$OUT[234]=FALSE
;ENDFOLD
;ENDFOLD I did, not much had worked but after further investigation, it turned out to be that the plastic encoder plug had fallen inside the robot, when the cable was plugged back in. Not much was holding it in there 
Hi, I have this exact error on a KR10 R900, after unplugging and then plugging in an encoder cable. And I cannot find a way to reset the error, any suggestions?
