Hi all,
If I am moving from one point to another like so..
NOP
MOVL
END
Is there a Specific Signal that becomes true when the target position has been reached at the end of the MOVL?
Thanks
PC
Hi all,
If I am moving from one point to another like so..
NOP
MOVL
END
Is there a Specific Signal that becomes true when the target position has been reached at the end of the MOVL?
Thanks
PC
if you need it, you can define it...
Hi Rzapo,
Can you provide more details on how to do this please?
Thanks
PC
No there is not a specific signAl. You could pulse an output instead.
Well there is a specific signal when the robot is in motion. That's the closest I think you can find.
Or perhaps monitor the current step number.
RoboGuru
Hi Robo Guru,
Thanks for your input.
I understand that I could pulse an output but how do I know for certain that the Target Position has been reached?
Also can you provide more detail on how to monitor the current step number? Not sure what this means...
Cheers
PC
Hello PC.
You could set an output signal after the target was reached, that way you know for sure that you have reached the desired step.
example:
NOP
MOV J
MOV L
MOV L - the desired position to be reached
DOUT OT#(13) ON
END
Hi MPL,
Thanks for your reply. However, how can I be sure that my position obtained at the end of the move is indeed my target position? Is there a simple way? A specific signal would be ideal but apparently one doesn't exist. I don't really want to do a whole stack of subtractions between target and current positions. Any thoughts?
I know I can have blind faith that the robot has completed the move successfully if it hasn't generated an alarm, but I want something more definitive in one particular case.
Thanks.
PC
Hi PC,
what about using an Interference Cube ?
define a very small Cube around your target position. lets say cube #2.
Of course not defined with command position, you gotta use feedback position.
then:
NOP
...
MOVL
TIMER T=0.2
DIN B010 SOUT#(58)
JUMP *POSOK IF B010<>0
RET
*POSOK
PULSE OT#(2) T=0.500
END
greetings Gamma
NOP
MOV J
MOV L
MOV L - the desired position to be reached
DOUT OT#(XX) ON or PULSE OT#(XX )
END
Using the above sample as an example:
When the controller says it's done with the MOVL the cursor will index to the next line and execute the DOUT or PULSE. When the output signal comes on you know the robot has completed the previous move.
You mentioned something about subtractions between target and current positions. Unless you use a TIMER or PL=0 (or FINE=0 in DX100, FS100, or DX200) there will always be a difference between the robot's current position and target position. This difference is based on velocity, accuracy tags, or even where the positions are located and distance between.
Use a PL = 0 at the end of your MOV command to ensure that it is exactly at the desired position
Thanks for the assistance everyone.
I'll go through these ideas with a fine toothed comb and see how I fair!