Good evening,
I have two robots with R30ia and a PLC controller. The robots are on a platform and this can only move when both robots are in home position. What is the best option to do this? BG logic ? Macro?
If they can put examples thank's.
Good evening,
I have two robots with R30ia and a PLC controller. The robots are on a platform and this can only move when both robots are in home position. What is the best option to do this? BG logic ? Macro?
If they can put examples thank's.
I would recommend reference positions. If defined as a home, they will turn on the perch output in UOP.
With the PLC connectés, you could use a macro with a Din as trigger, but make sure robot is not in a program before calling (you will get Already Locked by other task).
To do this:
Menu-setup-macro and choose DIN for trigger.
Also use the Reference Position setup to validate that robots are really Homed
Envoyé de mon SGH-I747M en utilisant Tapatalk
Thank's for your answers. Can you post some examples of code?
How can i user reference position?
There is no code for a reference position.
It is configured under the setup menu. MENU->SETUP->Reference Position
Nation thank you.
At this time I already have the reference set position. When the limits are exceeded the robot is no longer in the HOME [7] = 0. And how I make the robot go back home? Can I create a PR with the values of home?
Read this thread on the subject:
If you want to reach HOME from anywhere, look at NATION proposal.
If you could easily reach HOME from where you are, just create a program with HOME position and declare it in MENU-SETUP-MACRO (look @picture).
For your PLC, monitor the HOME_REF DO[x] that look to be already defined to confirm the HOME position.
I did as you told and runs smoothly. Thank you.
I will see and try to test the proposal of the Nation.