Hi all!
I'm pretty new to Kawasaki programming and I'm trying to develop a routine on D-series controller that sends current tool position on TCP/IP socket every time it receives a signal trigger from a laser scanner mounted on the robot (FS30L model).
The trigger is a square-wave signal with 200 microseconds HIGH and 12 ms LOW; I'm currently using one general input (CN4 connector) to monitor the signal so that a task opens a socket and sends position when input raises to High level whereas another task close the socket when input goes back to Low level.
The problem is that general input seems to be not able to catch a very short duration of HiLevel or LoLevel...so I would like to ask you if there is any other valid option to monitor this kind of signal (other input ports? Additional board with fast input ? High speed counter?).
Any help would be appreciated.
Thank you in advance
Marco