Ich schreibe als eine lineare Bewegung zu erkennen () zu unterbrechen, es wurde dann trat vakum nahm den Rohling mit Haufen und legte es in die Maschine und Bewegung UTB noch nicht zu Ende, bis das Werkstück
INERRUPT
- vto83
- Erledigt
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Hallo! Sprichst du zufällig Englisch?
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I am an Armenian I communicate with you through an interpreter, which is why I would like to express my bad thoughts in advance izvenyayus, but what to do Using the Fn such, I want to vertical workpiece is taken from the stack and put into the machine I have one sensor and I want to use interrupt
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My advice: Throw the interpreter into a garbage can. It's crap.
Interrupt-example:
Code
Alles anzeigenDEF MAIN() INI PTP HOME 100% DEFAULT ; A lot of other stuff INTERRUPT DECL 9 WHEN $IN[1] DO STOP_MOVE() ;If $IN[1] (your sensor) ist true call Subroutine STOP_MOVE() PTP MOVE_OVER_PART FINDPART() $ADVANCE=DEF_ADVANCE IF $IN[1] THEN ;Yeah! Success! ELSE ;Ooops...no part found ENDIF ;a lot of other stuff END DEF FINDPART() $ADVANCE=0 WAIT FOR NOT $IN[1] ;Sensor shoud be false before starting the Interrupt INTERRUPT ON 9 LIN_REL {Z -1000} ;Down to the part till sensor is true INTERRUPT OFF 9 END DEF STOP_MOVE() INTERRUPT OFF 9 ;siwtch Interrupt off, to avoid multiple calls from STOP_MOVE() BRAKE ;Stop current movement RESUME ;Return to MAIN (where the interrupt is declared) END
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Good day, my friend today I wrote programa but an error in the linear movement down look that advise
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Softwareversion?
And tell us the error message.
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KRC V5.6.8
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And the error message if the program reached "LIN_REL {Z -500}" ?
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Those switches when the robot sees stops and gives the error that I posted above, if uvas have Skype and share my free time I can call and show you
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Sorry, but I'm not available at skype at the moment.
I can't find any errormessage in your posts. If the Robot reaches the Line "LIN_REL {Z -500}" ther must be a errormessage. Please try to translate this message in english. The code "LIN_REL {Z- 500}" seems to be right. I can't understand why there is an error...
One question, please: What is your proefession about KUKA-Programming.
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I am a novice programmer I promote my knowledge in programming,
I understand it is clear of the task and the way to solve the noise thank you very much for your help, I will add here programa I created 2 but your program's located in the folder AAAAA Thanks for you help -
Thank you all found a bug fixed all works fine, had to remove the INI
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Ooops...
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with the help of a good friend IrrerPolterer today I finished my huge robot Thanks for the help, but of course there nyuansya I do not fully know all the knowledge but for me eshcho one step at deepening the knowledge hectickuka palletizing
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