Feeder with 4 Stocks

[paulofutre10]

Hello

I have an IRB 1400 S4.

I have a feeder with 4 parts stocks. (Each stock has a sensor input).

I wanted to create a program where the robot goes:

If you have parts in stock 1 - Fetching the stock 1 - leads to the machine
If you do not have parts in stock 1 - Fetching the stock 2 - leads to the machine
If you do not have parts in stock 2 - Fetching the stock 3 - leads to the machine
If you do not have parts in stock 3 - Fetching the stock 4 - leads to the machine
If you do not have parts in stock 4 - go to home position

Can you help me ?

Thanks

[prnuk2003]

Lots of ways to do this, every programmer  will have a different way!

One simple example and maybe there will be many suggestions:

PROC Main()
    ! Ready at the home position
    Home_Pos;
    ! Set the Bool data flag to TRUE
    bPick=TRUE;
    ! Start watching the four inputs while bPick is TRUE
    WHILE bPick=TRUE DO
      IF diStock1=1 THEN
        ! Goto stock 1
        Pick_Stock1;
        ! Set bool flag to FALSE to exit the while loop
        bPick=FALSE;
      ELSEIF diStock2=1 THEN
        Pick_Stock2;
        bPick=FALSE;
      ELSEIF diStock3=1 THEN
        Pick_Stock3;
        bPick=FALSE;
      ELSEIF diStock4=1 THEN
        Pick_Stock4;
        bPick=FALSE;
      ENDIF
    ENDWHILE
    ! place the parts somewhere
    Goto_Place;
    !PP will go bak to the top and start again.
ENDPROC

This assumes that you don't have any preference for any stock so 'stock1' will always be checked first.

[paulofutre10]

Hi

thank you