Emergency stop while following a conveyor

jrobotics · December 11, 2024 at 7:00 PM

Hello,

I am working with KR10 Agilus with KSS 8.7.6 that is following a conveyor in its program using ConveyorTech 8.1.

I have a problem with resuming the work after emergency stop. In the "usual" work its fine, the program resumes without any issues, but whenever robot is making a movement towards a point that uses the "moving" base it has a problem resuming. It works in EXT under master PLC.

Maybe someone have encountered something similar?

I can provide some more details tommorrow like robot or plc code used for managing emergency stop and starting working mode.

Best Regards

**panic mode** · December 11, 2024 at 8:20 PM

so what exactly is this... problem...?

does conveyor stop when EStop is pressed? is the part still reachable? is the part still tracked? is it ok to give up on that part? programmer needs to define and program desired behavior.

fro example Conveyor.FOLLOW is used to track parts and one can specify when tracking is cancelled (on max time, max distance...). Everything is in the manual...

Dzonzi · December 12, 2024 at 8:33 AM

As far as I know, you cannot continue the conveyor following after ESTOP, because the standard function will call the "CONV EXIT" routine to move the robot back home.

jrobotics · December 12, 2024 at 10:58 AM

Thanks for reply,

I think that might be the issue, Dzonzi . I hope you mean the conveyor.quit function, as I havn't called it earlier.

I have added the function the same way it is shown in the example in manual, just after calling conveyor.follow. And it seems it helped. So in case I dont want to cancel following current piece I should call it with such arguments: stop after error FALSE and reset sen_prea FALSE?

jrobotics · December 12, 2024 at 6:17 PM

So actually it still doesnt work. I thought it works while I was testing it in t1 but whenever I tried E-stop while in EXT robot didnt continue its work.

Pasting my code down below, conveyor.quit is called as in the manual's example. Although I havn't teach any motions in conveyor.quit execution.

Code

DEF main_conveyor( )
  
  ;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
  INTERRUPT DECL 11 WHEN $TIMER[11]>2000 DO A1_noVaccumMain()
  INTERRUPT DECL 12 WHEN $TIMER[12]>2000 DO A2_actuator1Blocked()
  INTERRUPT DECL 13 WHEN $TIMER[13]>2000 DO A3_actuator2Blocked()
  INTERRUPT DECL 14 WHEN $TIMER[14]>2000 DO A4_actuator3Blocked()
  INTERRUPT DECL 15 WHEN di_vaccum_sensor_main==FALSE DO A5_firstEncapsDropped()
  INTERRUPT DECL 16 WHEN di_vaccum_sensor_main==FALSE DO A6_secondEncapsDropped()
  INTERRUPT DECL 17 WHEN di_vaccum_sensor_main==FALSE DO a7_stringDropped()
  INTERRUPT DECL 18 WHEN di_PauseProgram==TRUE DO Pause()
  INTERRUPT DECL 19 WHEN $TIMER[15]>1000000 DO A9_WaitedTooLongSynchro()
  ;ENDFOLD (USER INI)
  ;ENDFOLD (INI)
  ;FOLD CONV INI
  CONV_REINIT_MD()
  
  ;Alarm outputs initialisations
  FOR Z_TEMP_COUNTER = 1 TO I_MAX_CONV_COUNT STEP 1
      CONV_SET_ALARM_OUT(Z_TEMP_COUNTER, TRUE, FALSE)
      CONV_SET_EMS_OUT(Z_TEMP_COUNTER, TRUE, FALSE)
   ENDFOR

 ;Interrupts Conveyor
  FOR Z_TEMP_COUNTER = 1 TO I_MAX_CONV_COUNT STEP 1
      IF B_CONV_EXISTS[Z_TEMP_COUNTER] THEN
         INTERRUPT DECL Z_ALARM_DIST_INT_NBR[Z_TEMP_COUNTER] WHEN $SEN_PREA_C[Z_SEN_PREA_NBR[Z_TEMP_COUNTER]]>=R_ALARM_DIST_CONV[Z_TEMP_COUNTER] DO INT_CONV_ALARM(Z_TEMP_COUNTER)
         INTERRUPT DECL Z_MAX_DIST_INT_NBR[Z_TEMP_COUNTER] WHEN $SEN_PREA_C[Z_SEN_PREA_NBR[Z_TEMP_COUNTER]]>=R_MAX_DIST_CONV[Z_TEMP_COUNTER] DO INT_CONV_MAX_DIST(Z_TEMP_COUNTER)
         INTERRUPT DECL Z_EMS_INT_NBR[Z_TEMP_COUNTER] WHEN $STOPMESS==TRUE DO INT_CONV_EMS(Z_TEMP_COUNTER)
         INTERRUPT DECL Z_EXT_QUIT_INT_NBR[Z_TEMP_COUNTER] WHEN $CYCFLAG[Z_EXT_QUIT_CYCFLAG_NBR[Z_TEMP_COUNTER]]==TRUE DO INT_CONV_EXT_QUIT(Z_TEMP_COUNTER)
      ENDIF
  ENDFOR
  
  $ADVANCE=1
  ;ENDFOLD CONV INI
  interrupt on 18
  INTERRUPT ON 19
  ;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
  
xGripper_Clear()
xInit()
do_mainConveyorRunning=TRUE

;fold read offset
int_offsetX_pick_encaps1=offsetX_pick_encaps1_Lo+offsetX_pick_encaps1_Hi
rl_offsetX_pick_encaps1=(int_offsetX_pick_encaps1-100.0)/10.0

int_offsetY_pick_encaps1=offsetY_pick_encaps1_Lo+offsetY_pick_encaps1_Hi
rl_offsetY_pick_encaps1=(int_offsetY_pick_encaps1-100.0)/10.0

int_offsetA_pick_encaps1=offsetA_pick_encaps1_Lo+offsetA_pick_encaps1_Hi
rl_offsetA_pick_encaps1=(int_offsetA_pick_encaps1-100.0)/10.0
;putting ribbon 2A
int_offsetX_pick_encaps2=offsetX_pick_encaps2_Lo+offsetX_pick_encaps2_Hi
rl_offsetX_pick_encaps2=(int_offsetX_pick_encaps2-100.0)/10.0

int_offsetY_pick_encaps2=offsetY_pick_encaps2_Lo+offsetY_pick_encaps2_Hi
rl_offsetY_pick_encaps2=(int_offsetY_pick_encaps2-100.0)/10.0

int_offsetA_pick_encaps2=offsetA_pick_encaps2_Lo+offsetA_pick_encaps2_Hi
rl_offsetA_pick_encaps2=(int_offsetA_pick_encaps2-100.0)/10.0
;endfold

;Fold Conveyor.INI_OFF LinConveyor1 ;%{PE}
 ;Fold ;%{h}
 ;Params IlfProvider=KukaRoboter.Conveyor.InlineForms.ConveyorIniOffInlineForm; ConveyorName=LinConveyor1; ConveyorId=1
 ;EndFold
 CONV_INI_OFF(1)
;EndFold
;Fold Conveyor.ON LinConveyor1 ;%{PE}
 ;Fold ;%{h}
 ;Params IlfProvider=KukaRoboter.Conveyor.InlineForms.ConveyorOnInlineForm; ConveyorName=LinConveyor1; ConveyorId=1
 ;EndFold
 CONV_ON(1)
;EndFold

do_waitingForPlate=TRUE
$TIMER[15]=0
$TIMER_STOP[15]=FALSE
;Fold Conveyor.FOLLOW LinConveyor1, Movement 1, Cancel on: Max_time 1000, Input 71, Input-Level TRUE, Flag 1, Flag-Level TRUE, Start of work area 60, End of sync area 900 ;%{PE}
 ;Fold ;%{h}
 ;Params IlfProvider=KukaRoboter.Conveyor.InlineForms.ConveyorFollowInlineForm; ConveyorName=LinConveyor1; ConveyorId=1; Movement=1; Cancel on: Max_time=1000; Input=71; Input-Level=TRUE; Flag=1; Flag-Level=TRUE; WaitDist=60; MaxDist=900
 ;EndFold
 CONV_FOLLOW (1, 1, 1000, 71, TRUE, 1, TRUE, 60, 900)
 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
do_mainConveyorRunning=FALSE
LOOP
do_mainConveyorRunning=TRUE
do_waitingForPlate=TRUE
$TIMER[15]=0
$TIMER_STOP[15]=FALSE
;Fold Conveyor.Skip LinConveyor1, Index offset part list 1, Movement 1, Cancel on: Max_time 1000, Input 71, Input-Level TRUE, Flag 1, Flag-Level TRUE, Start of work area 60, End of sync area 900 ;%{PE}
 ;Fold ;%{h}
 ;Params IlfProvider=KukaRoboter.Conveyor.InlineForms.ConveyorSkipInlineForm; ConveyorName=LinConveyor1; ConveyorId=1; Skip to part index=1; Movement=1; Cancel on: Max_time=1000; Input=71; Input-Level=TRUE; Flag=1; Flag-Level=TRUE; WaitDist=60; MaxDist=900
 ;EndFold
 CONV_SKIP(1, 1, 1, 1000, 71, TRUE, 1, TRUE, 60, 900)
 CONV_MOV(1, 1)
;EndFold
do_mainConveyorRunning=FALSE
ENDLOOP
 interrupt off 18 
 INTERRUPT OFF 19
END

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Dzonzi · December 13, 2024 at 11:28 AM

What do you mean by "robot didn't continue its work"? After E-stop conveyor tracking is stopped and cannot be started again with that part. The part on the conv is lost, you need to back home and start the following with a new part.

jrobotics · December 13, 2024 at 12:06 PM

Ok, I was hoping I could still track the same piece. So thats why conveyor.quit is called right after conveyor.follow or conveyor.skip? Could you tell me how do I teach a homing procedure to conveyor.quit?

Emergency stop while following a conveyor

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