July 18, 2019, 03:53:46 PM
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 Panasonic touch sensor function part present search

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June 23, 2019, 02:34:38 PM
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Liebgott


Panasonic robot TM-1800WGH III U with GIII controller

The robot has a touch sense function and I’m trying to figure out how to do a part present search.  We have issues with mixed component placement (multiple components that are similar but different heights).  I would like to do a search to make sure the wrong part is not there.  I’m having issues because the robot will fault when it fails to detect a part.  Can’t find much info online and from reading the manual the only thing that I think might help me is the function key “Drct Go” but I can’t find this option anywhere in the controller key option.

We have a motorman with touch sense and because the touch sense routine can be opened I can edit it to check for missing parts.

Today at 03:53:46 PM
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July 02, 2019, 05:39:31 PM
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Thescoe


Set “No sensing input” to “Shift” in touch sensor setup in Management system settings. This will prevent the no sensing input error.
Use conventional touch sense commands instead of SLS as in example below. This is only an example.  Individual situations may vary according to part orientation, max travel distance, variables/elements used, etc.
In the example below the part is sensed in the Y minus direction. When max travel distance is reached without touching, robot stops, exits away, saves the offset in a GD variable, converts the Y element value to an integer variable. If value is beyond normal part placement i.e. part is missing, program CALLS the Error routine. Otherwise it continues on normally. It's up to you how you want to handle the error routine.

CLEAR GD#(ALL)
CLEAR GI#(1:GI0001)
SNSSFTRST
MOVEP P1
MOVEL P2
TCHSNS SPD=90
MOVEL P3
SNSSFTSV GD#(1:GD0001)
MOVEL P4
CONVSET GI#(1:GI0001)=GD.Y#(1:GD0001)
IF GI#(1:GI0001) <-15 THEN CALL Error ELSE NOP
MOVEP P5






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