We have been having an unreliable input signal issue that triggers false MoveL.
WaitDI PART_PRESENT, 1;
MoveL p20, v7000, fine, toolGRIPPER;
The "PART_PRESENT" is from a photo eye. Normally when there is no part blocking the photo eye, the PE signal is 0 (steady 00000000 for example). But whenever the photo eye reflector gets dirty, the signal status changes erractically (01010100001110000 for example) causing the MoveL wrongly . I'm not familir with RAPID code. Is there a timer command that times the duration of an input signal status? If so, I can time the input signal to make sure the signal is reliable.
The robot has ethernet connection to a Controllogix. I could probably use the photo_eye signal as an input to the PLC, then do the timing in the PLC, then have the PLC imer DN bit to trigger the robot's PART_PRESENT. But it would be much simpler if there was a RAPID command for a timer output.
Thanks.