Hi there wondering how to change a setting or wiring so when I get either a hand broken switch open or deadman switch is released or hit estop stop 24 volts out of pin 1 for example. I can turn on and off in program but need to have it turn off on estop
Thank you
RO output on EE connector
-
trevpossy -
March 7, 2014 at 4:15 PM -
Thread is marked as Resolved.
-
-
I am thinking Setup->Config set an output on a certain condition
Not sure if options in that screen are applicable -
Your question is not clear.
Do you need to disconnect a RO on certain events that shut off the robot servomotors, but need to do it by hardware circuits, not relying only on software?
Or you simply do not know how to do this by software? -
Thank you I would like to have RO turn off if I am in the middle of running program and press hold key or turn off teach pendant or release dead man switch sounds like I can archive this with software at the present time I have a switch that allows me to stop RO signal even if program has it switched on thank you Trev
-
Well, so you want to do it by software, and you specified the RO de-energizing conditions.
But when should they re-energize? -
Thank you should re energise on pressing hold again or when program instruction asks for RO on
-
This sounds like an easy task with KAREL running as a background program monitoring the main task. Have it monitor the UOP output signals.
-
... should re energise on pressing hold again or when program instruction asks for RO on
The first part makes no sense, because pressing the Hold button again does not resume the program execution.For the rest, there is no need in Karel. Do the following:
- Replace the desired RO in the program with flag or DO.
For example, replace RO[0] with F[0] in the program.
- In BG Logic, drive the RO[0] based on the F[0].
F[100]=(F[0] AND !F[102]) (One shot pulse of F[0])
F[102]=(F[0])
IF (F[100]), RO[0]=On (Set RO[0] when F[0] activates)
IF (!F[0]), RO[0]=Off (Reset RO[0] when F[0] is Off).
- Add the RO reset under desired conditions.
For example,
IF (!UO[4:Paused]), RO[0]=Off (Reset the DO when the program is paused,
either by the Hold button or by releasing the Deadman switch).
- Do similarly for each desired RO. -
Thank you will have a go I agree the pressing hold again won't restart again I meant start program button on cabinet
-
Even simpler then, since you need the ROs to be active only during program running.
You only need RO[0]=(F[0] AND UO[3:Running]) in BG Logic. -
For the rest, there is no need in Karel.
Unfortunately I have only come across BG logic in about 3 of the couple hundred fanucs Ive worked on. Wish I caould see it more to use it.
-
Thank you every one for your help I will have a goat a few ideas regards Trev