SUBROUTINE EXECUTION WITHOUT USING INTERRUPT

[JozeFons]

Hello,

I would like to ask how I can pause one main routine and execute another subroutine without using the interrupt, please? When I use interrupt and execute the movements inside then I don't get the signal $ON_PATH. Is it their way in the kuka how to be execute the subroutine without canceling the main routine? Could be also a way to execute the subroutine like background task?

Thank you and have an awesome day!

Best Regards,
Jozef Fons

[Johannes @ Robots in Architecture]

Hello,

That is a very specific KRL question that does not directly relate to KUKA|prc, you may have more success at e.g. the robot forum.

I can't really think of a "clean" way to stop an ongoing movement (and continue with another movement) except for using an interrupt.

As you mention "background tasks" - that is the job of the submit interpreter, but don't put any movement commands there.

Best,
Johannes