Hello,
Is it possible in the NX100 to start a counter of a variable every time I drop servo power?
for example: D001 will start counting up by 1 every second.
End result: I want to track our robots efficiency.
Thanks!
Hello,
Is it possible in the NX100 to start a counter of a variable every time I drop servo power?
for example: D001 will start counting up by 1 every second.
End result: I want to track our robots efficiency.
Thanks!
BwillieS
I dont have an NX with me, but if you search to the menus you will find one screen when Motoman shows these kinds of times
I have been working on this quite recently. Here is how my 1 second counter works:
STR-NOT #50073 Servo ON
AND-NOT #70552
TMR M014,10
PLS #70552
STR #70552
ADD 1,M016,M016
What is #70552?
Also how do you get M016 into an I/B/D variable? or is it already one?
Thanks.
Relay addresses that start with 7xxxx are auxillary relays that can be used by anyone. It's a temporary bit you can use for your own application.
Inside your robot program, there is the command GETREG which will let you import a register into an I-variable only.
Do you have a PLC connected to this robot? I think you might find it more friendly to develop this logic like that.
RoboGuru
I do not have a PLC hooked up to this robot.
So if I add to my CIO
TR-NOT #50073 Servo ON
AND-NOT #70552
TMR M014,10
PLS #70552
STR #70552
ADD 1,M016,M016
GETREG
Then in my program I add the GETREG command.
What information do I fill out in the parameters of it. I assume it is as follows.
SET TO: I000 -> I variable of my choice
SET FROM -> MREG#(M016) pull down = constant
LOW/HIGH BYTE-> UNUSED.
How do I know which MREGs have already been used?
Also what is the purpose of using #70552?
STR-NOT #50073 Servo ON
AND-NOT #70552 aux relay allow timer to reset and re-start
TMR M014,10 10= 1 second
PLS #70552 aux relay one-shot
STR #70552 condition to increment second counter
ADD 1,M016,M016 seconds accumulative
(don't need GETREG in CIO, also STR-NOT)
To check for used registers, aux contacts etc you can load up the CIOPRG in notepad and use the FIND feature. There is nothing special about 70552/MREG016, that's just what I picked. I would only recommend editing the CIO live on the pendant one rung at a time because it will check syntax and double usage for you. Or, use motoman Ladder Editor for your controller, but you have to purchace.
Yes, in your program just:
GETREG I000 MREG#(0) Use whichever I-var or reg you wish. High/low byte unused, I haven't used that function yet.
Next you may wish to bump 60 sec into a minute counter, zero out seconds and 60 minute into an hour counter, zero out minutes. There is a way to do this also in the ladder.