6/9/2020 4:00 PM | |
Joined: 2/21/2020 Last visit: 8/8/2024 Posts: 4 Rating:
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Hello everybody, I'm using the FB LKinCtrl_MC_MovePath from the library LKinCtrl v2.3.0 (get from here https://support.industry.siemens.com/cs/it/en/view/109755891 ) with a cpu 1516TF-3. I create and test with success some paths with my 3 axis manipulator. My problem is how to manage the path interruption: I mean, I need to interrupt the path in an emergency situation and after a re-enable of the 3 axis I believe I could keep going on the path from where it was interrupted. At the moment I can't manage that. My best trial was: - execute of path (and kinematics starts to moving) - I forced the "Interrupt" input signal and then kinematics stop movement and I get the status "Interrupted" from Kinematics Object - after the "interrupted" signal, I disable the 3 axis by MC_power - after that, the kinematics Object has "user fault" error with error detail number 801 and reaction 12 - then I reset the "user fault" error by MC_reset, I enable again the 3 axis by MC_Power and then I try to "execute" the path but I will get always the following error from the FB LKinCtrl_MC_MovePath 16#8207 error due to previous not acknowledged error (reset MovePath to acknowledge) - I need to "reset" on the FB but I lose the path and I need to restart the path from the beginning. Now my doubt is that I can't have a path interruption and disabling the axis.. is it possible? I forget to do something? I hope my english and the situation is understandable can anyone give some help or some advise to solve it? Marco |
Last edited by: Jen_Moderator at: 06/10/2020 09:00:58Optimized link. |
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