Posts by EiBru

Quote from Fubini

That is where the Submit is used. The submit program runs independantly of a robot program. One could say parallel to the robot program. Also submit runs whenever it is started and even runs in the backropund if no robot program is executed.

Plenty examples and discussions on evaluation of $POS_ACT in Submit and its pitfalls can be found using the forum search function.

Fubini

Thank you Fubini! I was totally unaware of the submit program. Works great!

Hello

I have two KUKA robots and a PLC that communicates over ethercat using the EL6695-1001.

I would like send the positions of the robots to the PLC in realtime. I know that i can read the $POS_ACT variable to get the current position and set an output, but i dont beleive it is possible to update the output while executing a movement command.

Does anyone know if this is possible?

Thanks Mentat. I don't know how i missed that..

I forgot to mention that the interrupt is activated in def main(). I edited my question to clearify.

Hello.

I have a main.src program that calls another program AxisScan.src

In main.src i have declared a global interrupt that should detect errors:

GLOBAL INTERRUPT DECL 4 WHEN RuntimeError==TRUE DO OnError()
INTERRUPT ON 4

The RuntimeError variable is declared in main.dat

GLOBAL BOOL RuntimeError=TRUE; 

The OnError subprogram should stop movement, cancel programs and wait for signal from PLC before continuing execution of main.src.

def OnError()
   BRAKE;
   wait for I_ResetRuntimeError;
   RuntimeError = false;
   O_RuntimeError = false;
   CONTINUE;
end

The AxisScan program is executed from a subprogram in main.src

def ScanVertical()
   BAS(#BASE, DefaultBaseNo);
   BAS(#TOOL, SensorToolNo);
   AxisScan(V_S_Start, V_S_End);
end

The AxisScan program scans a part with a sensor mounted on the tool. The scanning process is stopped as soon as the robot gets a signal from the sensor.

AxisScan program:

DEF AxisScan (startpos:IN, endpos:IN)
   e6pos startpos; Start position
   e6pos endpos; End position
   interrupt decl 10 when I_SensorSignal == TRUE do StopScan();
   interrupt decl 11 when I_SensorSignal == FALSE do StopSlowScan();
   $advance = 0;

   $OV_PRO = ScanVelocity;
  
   interrupt on 10;
   DoScan(endpos);
   interrupt off 10;
  
   $OV_PRO = SlowScanVelocity;
   
   interrupt on 11;
   DoScan(startpos);
   interrupt off 11;

   $OV_PRO = NormalVelocity;
END

StopScan looks like this and works. This cancels the DoScan subprogram and stops robot motion.

def StopScan()
   brake F; Stop robot motion
   resume; Cancel all subprograms
end

The subprogram that executes the scanning movement looks like this

def DoScan(target:IN)
   e6pos target;
   LIN target;
   RuntimeError = true; This should stop the AxisScan program
end

When RuntimeError is set to true i expect the robot to stop until a signal is detected from PLC and AxisScan to stop execution, but AxisScan continues execution and robot is never stopped.

Can anyone help me on this?

Hello Jarij.

Did you ever find a solution for the problem?