DOUT OT#() ON FINE ???

[alex6885]

hi 
I have a problem with a HP20 and control NX100 
I don't understand because using DOUT OT #() ON Fine the robot activates the outpt while he is' moving and it doesn't wait for to arrive on the point. 
using PL=0 loses him around 0,3secondi and it is too much   
can you help me?
thanks

MOVJ C00036 VJ=120.00 PL=1 
DOUT OT#(9) ON FINE

[DP]

I'm not entirely sure what your problem is. As far as I can make out, you need to activate an output at a certain position, but the robot is moving too quickly and whips past the point leaving your output activating at the wrong time?

Try reducing your VJ. 120 means you're moving the arm at 120% of maximum speed.
Try writing the position you need to be at as a position variable (PX001) and use a WAIT command.

Hope this helps.

[motomaniaco]

Try the following option

MOVJ C00036 VJ=120.00 
TIMER T=0.05
DOUT OT#(9) ON FINE

Most of the times I use this option.

[alex6885]

ok I am now already using  the TIMER but it is not a correct thing, on certain positions the robot respects DOUT FINE on others no.
there is probably a parameter that sect the output to a certain percentage from the end of the movement
the solution is surely found, but the why of this small problem is not clear
thanks

[95devils]

Starting out with the basics.  How are you entering a number higher than 100% on a VJ?  The VJ is velocity of motor speed, the motor can not run faster than 100.00%.  The FINE tag is defining in a parameter.  The default is 50%.  When the controller has determined that it is 50% complete with that move then execute the next line DOUT OT#(xxxx) ON.  The output is going to come on earlier than the position is reached.  The FINE tag is global, anywhere you use it the controller is going to execute the next line (DOUT OT#(xxxx) when the controller has determined it is what the parameter is set for done. 

Using a position level of zero will always give you a hestitation of 0.25 to 0.5 seconds.  When using a pl=0 we are deciding when the controller is done with that step not the controller.  If you want to eliminate the hestitation remove the pl=0, if accuracy is not a concern.  If accuracy is a concern then either use a small timer, remove the FINE tag, or remove the FINE tag and change the parameters for a pl=1 to be 1000 or 2000.  This is S1CxG033.  The units are in microns, so 1000 is within a millimeter, 2000 within 2 mm.

[alex6885]

ok but the parameters for the PL are for the control nx100 from SC1GxG033 to SC1GxG040

[Jack]

You could try the text below using the NWAIT command,

This will execute of the next instruction on the next line, but will do this at the same time as the robot is moving, so you will need to insert another position which is as close as you need it to the destination point, this should work.

MOVJ C00035 VJ=120.00
MOVJ C00036 VJ=120.00 NWAIT
DOUT OT#(9) ON

[Bernie]

Dout with fine must be use together with S2C580
see the attached picture for more detail