I was wondering if there’s a way to tell if the power was cycled on the controller. I want to write in a TP program, logic that’ll force the operator to reteach the user frame if it sees that the power has been cycled. It’s a portable cell that gets moved from time to time and the frame work twists around and throws the positioning off when its moved and I the power being cycled is a good incator that the cell was moved and therefor the frame will need to be retaught. R2000-165 30iB
Thanks
Power Has Been Cycled Variable???
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Grt12x -
February 25, 2016 at 2:53 PM -
Thread is marked as Resolved.
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Probably you can auto run a program at cold start that writes ridiculous numbers into the working user frame so all the points in the program are not reachable. This will force the operator to clear and re-teach that frame.
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I don't like the idea of sending the robot invalid information in order to make it NOT work.
Is this cell PLC controlled? You could come up with a way to set a register between the PLC and controller, and have your program force the operator to adjust the frame depending on the register state.
of course this would depend on your setup, and what all takes place when the cell is moved. Or you could add a section to your main program that runs once, frame is set, and doesn't run again until program is started again.
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Thanks For the ideas. I ended up running a cold start auto execute program that just sets a register value to "1". I then just monitor that at the start of each cycle and if its true I trigger a prompt box "reteach frame" that someone needs to acknowledge along with recording the current frame data to a PR and then offsetting it 50mm in a safe direction and rewrite the frame date from the PR. (it sucks that I need to write bogus info to the frame but otherwise they usually don't reteach it)