I have 2 robots with r30ia controllers and i have certian situation when i do not want the operators to run the robots in manual. We have had issues where the robot goes into a tight area and i do not want the operators to be able to run the robots when they are in this area. Is there a way i can say if i am in this area disable manual. I already have logic in to tell me when the robot is in this area i am just trying to find a signal or i can send to the robot to disable manual movements.
Disable Manual
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outlaw10801 -
January 22, 2015 at 5:43 PM -
Thread is Resolved
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Are you saying manual as in jogging with the teach pendant ? If not, then define what your manual mode is please.
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I would write a background logic, forcing override to 0 when the mode selector is in Teach + the logic you mentioned.
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you could use a monitor program.
PROGRAM = MAIN
MONITOR CH_NO_T1
L P[1] 1000mm/sec FINE
DO[1]=ON
WAIT DI[1]=OFF
DO[1]=OFF
L P[2] 1000mm/sec FINEENDMONITOR CH_NO_T1
END---------------
PROGRAM = CH_NO_T1
WHEN (SO[7] OR !SI[8] OR !SI[9]), CALL ALRM_T1
END-------------
PROGRAM = ALRM_T1
LBL[1]
IF(!SO[7] AND SI[8] AND SI[9]),JMP LBL [999]
UALM[1]
MONITOR CH_NO_T1
LBL[999]
END -
Or use UOP controls and have a PLC sense the TP on output and then drop the enable or hold input. That should stop it dead in its tracks. Without testing to be sure, I dont think you can even jog if those inputs are off.
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