LKinCtrl v2.3.0

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

 - 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?
thanks

Marco

Hello,

It is not possible to disable the axes during an interrupt of the path motion. This will always lead to an error at the TO_Kinematics.

You can however deactivate the already executed commands in the PathData for the FB MovePath.

Then reset the FB MovePath and execute again with the modified PathData.

This way the kinematics continues to move to the target it had before interrupting.

Technology Team

Hello,

It is not possible to disable the axes during an interrupt of the path motion. This will always lead to an error at the TO_Kinematics.

You can however deactivate the already executed commands in the PathData for the FB MovePath.

Then reset the FB MovePath and execute again with the modified PathData.

This way the kinematics continues to move to the target it had before interrupting.

 Thanks for the answer.

Just to avoid any my doubt, a possible solution could be like that:

e.g. I have a path of 5 cmds and on the execution of 3rd I have an emergency stop with axes disabled

then I will modify the path like that

CMD1.cmdActivated := FALSE;
CMD2.cmdActivated := FALSE;
CMD3.cmdActivated := TRUE;
CMD4.cmdActivated := TRUE;
CMD5.cmdActivated := TRUE;

Reset the FB MovePath and execute with the new modified PathData.

is it ok? it doesn't matter if the path initials command number have cmdActivated = false?

Best regards,

Marco

Hello,

sorry for the late answer...Yes this is ok.

The initial commands can be deactivated. The FB MovePath will then start with the first activated command. In this case it would be “CMD3”.