WAIT - instruction

    Hello everyone,

    I'm new to this forum and I have a question..

    In a part of my program I have this code:

    1: L PR[1] 2000 mm/s CNT 100

    2: Wait DI[16] = ON

    3: J PR[2] 50 % CNT 100

    When I see this piece of code I expect these twee possible scenario's:
    1: When DI[16] = OFF, the program (and Robot) will wait at line 2 till DI[16] = ON
    2: When DI[16] = ON before movement PR[1] is started and is still ON when the movement is finished, the program will see the condition is met immediately and continues from PR[1] to PR[2] without a stop.

    However, in reality it doesn't matter whatever the state of DI[16] is, the robot will stops it's movement. (Offcourse, with scenario 2, continues immediately after the real short stop)

    We really need to check this DI because a linear axis needs to be out of the area. In normal production, the linear axis is a bit faster than the robot and should be normally out of the area of the robot.
    When this is the case, we don't want that the robot stops and does one smooth movement to his end position.

    When I read the manual I see the following line:

    Quote

    When a wait instruction is executed, the robot does not execute any motion instructions.

    Does anyone know a trick to create a sort of Wait instruction which will pass without a stop when the condition is already met?

    I tried the following:
    _____________________________________
    LBL [1]
    If DI[16] = OFF, JUMP LBL [1]
    _____________________________________
    Result: The same


    _____________________________________
    If DI[16] = ON, JUMP LBL[1]
    Wait DI[16] = ON
    LBL[1]
    _____________________________________
    Result: The same


    Does anyone know a solution or can point out what i'm doing wrong? Would be very helpful!

    Hello,

    Maybe you can specify a skip condition while returning to the end position ?
    The skip condition will trigger a JMP LBL for as long as your linear axis is in the way but won't disturb the robot if the path is clear. The LBL can be used to either wait a certain amount of time or just loop until the way is clear.

    I haven't been able to test your suggestions because of problems in 3rd party devices. It could take a few weeks before i can test it.

    Strange enough i am not able to reply when I am in China, because the validation of this forum is generated by Google, which is banned in China.

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