i would like to use a digital input from my Profinet-Interface to stop the currently running programm at any given point in time and resart it immidiately at the beginning of the programm.
With other manufacturers, like KUKA, i use an interrupt that always listens to the correspondig input and after running the interrupt routine exits and kills every subprogram up to the subprogram in which the interrupt was declared.
I would like to replicate this behaviour wir the UR.
You can sort of do it the same as with the KUKA: Set up a Register input from the PLC and then put your whole program in a Loop or If node.
The If/Loop node must be checked continuously, and it will look at the register input from the PLC.
If the input changes state at any point, the Loop/If will be exited, and the next code will be executed.
No problem. If you’re going to use it to stop a movement, you must include a stopl()/stopj() script command after the exiting of the movement. This is to allow the robot arm to decelerate and not abrubtly stop, which will introduce unwanted wear to the joints.
