库卡高级编程.pptVIP

01/2006 * interrupt_resume_en.ppt BRAKE BRAKE F Brakes and stops the robot motion Brakes and stops the robot motion with max. values DEF INT4 ( ) ... BRAKE F $OUT... END BRAKE指令使机器人停止运动。但 一旦中断程序结束，运动就会恢复。 BRAKE 指令只能在中断程序中执行 中断 – BRAKE 指令 01/2006 * interrupt_resume_en.ppt RESUME 取消在本中断程序的优先级之下的中断程序和子程序。 可能导致机器人的运动被终止。 RESUME 指令只能在中断程序中执行 当 RESUME 生效时，advance run 指针不能在产生中断的行，而是至少低一行。 中断—取消中断 01/2006 * interrupt_resume_en.ppt 取消中断的前提 为了能够取消一个运动，下列条件必须先得到满足 在中断程序中使用“Brake / Resume” 运动必须比中断声明至少低一个优先级 advance run指针不能和中断声明在同一优先级 01/2006 * interrupt_resume_en.ppt DEF Prog1 ( ) INI ... INTERRUPT DECL 21 WHEN $IN[1] DO Found ( ) ... PTP HOME ... SEARCH ( ) $ADVANCE=3 ... END Example: DEF Search ( ) INTERRUPT ON 21 LIN Strtpt LIN Endpt $ADVANCE = 0 ... END; of search DEF Found ( ) INTERRUPT OFF 21 BRAKE LIN $POS_INT ;pick up part ... RESUME; cancel END RESUME immediately cancels both subprograms and jumps to the main program Interrupt – Example: Canceling interrupt routines 01/2006 * interrupt_resume_en.ppt Practical exercise Interrupt handling Canceling a motion * Interrupt – Stopping motions If it is necessary, in the event of an interrupt, to be able to stop robot motions that are already being executed, the BRAKE statement is used in the interrupt program. Programming without BRAKE parameters causes the motion to be braked using the programmed path or axis acceleration values. The reaction is the same as that when the STOP key is pressed. The robot does not leave the programmed motion path. Using the instruction BRAKE F (brake fast) a shorter braking distance is achieved. The robot stops in the shortest time possible while remaining true to the path. The BRAKE instruction must only be placed in an interrupt program. In other programs it leads to an error-induced stop. The BRAKE instruction does not have to come straight after the call, but can be situated at any position in the interrupt program. The effect it has depends on whether or not a motio