background program logic

[noelstory11]

 
I'm trying to program an LR Mate 200ib with an R-J3iB controller to run while a certain sensor is activated but I want the robot to halt if the sensor is deactivated.I am looking for a very simple programming solution. Any ideas?

[anonymous]

Have you considered using the Hold input in the UOP?

[noelstory11]

I have not been successful configuring the DI of my buttons to control the UOP. I feel like I am missing something right in front of me.

[anonymous]

noelstory11,

Can you please explain what you mean when you write, "configuring the DI of my buttons to control the UOP?"

What the heck are your buttons (no smart a%% comments, please)?

[noelstory11]

What I have is a small control box with a start and reset button.I have configured the digital inputs of each "button" to the  UOP inputs production start and fault reset. When I press these buttons, the teach pendant shows the inputs as being activated but they dont actually start the cylce or reset the faults.Also, I have two doors to the cell that must be opened and closed to replace the part we are working on. Each door has a sensor.I had the doors connected to the fence connection on the emergency stop panel except everytime you opened the door after each cycle, you had to reset the fault. I would rather have the doors only pause the cycle if they are opened mid cycle,without having to reset.I am trying to make the cell as simple as possible for the operator. If you need more information, I can give it to you.

[Nation]

What you are describing sounds like it would be in violation of the ANSI RIA standards. If it just a single door separating the robot and the operator, and you set it to simply pause the robot when open, you will open yourself and your company up to all sorts of liability issues. Example: Your switch get fused on and operator places part in nest, and the robot crushes the operator's hand upon part load. Such a door would require a safety switch wired into the fence circuit of the robot to pass RIA standards.

Similar setups are done in industry using two light curtains. One the operator breaks (and then resets) when setting the part in and one the robot breaks when picking the part up (typically auto resetting). These are then wired in parallel into the robot's e-stop chain so if both are broken at the same time the robot e-stops.

Now for some helpful information.

Under the config on the uop screen are your bits toggling there or on the digital input screen? If it is on the uop screen, you need to enable uops. If it is on the digital input screen you need to redefine how the uops (and most likely the digital inputs (unless you want them to overlap)) are configured.

[FDABB]

Nation is right it is really dangerous that the door sensors are not connected into the E-circuit.

Anyway you can try this: create a program like "IF (DI[1] = OFF) ,$MCR_GRP[1].$hold = 1; IF (DI[1] = ON) ,$MCR_GRP[1].$hold = 0;" and run this program into BG logic.

[tony gast]

2 doors......are these both robot work zones?
If so... what you need is to zone the robot (with safety rated switches) to mute the door that is open and not active.
If you only have 1 work space....you can use a safety rated switch to mute the door if the robot is parked in a safe position
That being said ....it is OK to use an input to prevent a robot start or stop the robot....only if the correct safety  is in place....

[freemanleon]

If you simply want a hold when DI triggered,  i guess the TC Online function will help.Set $MIX_LOGIC.$USE_TCOL to TRUE, and set the condition.In I/O list you can monitor the TC Onlince function.Robot will be held if DI meet the TC online.
But your situation is potentially dangerous, it will be better you interlock this hold DI to a DO for PLC, and PLC return a DI back to use Override function,make robot move in slow speed to avoid sudden impact. When you reset to fence, remove DO for Override and acc up to 100%.