Hi Lads,
I need some help. I am facing an issue mentioned above. KR10 R1100 sixx with KRC4 compact is equipped with Schunk servogripper. Gripper is controlled by PLC not by robot controller.
So when robot is in pick or place position I am sending relevant signal to plc with request to grip or ungrip, then I'm waiting for signal from plc that part is gripped/ungripped, then I proceed with motion. But somehow robot is executing motion without waiting for this signals.
Please have a look on the code (just a part):
;FOLD SLIN PICKPOS Vel=2 m/s CPDAT1 ADAT0 Tool[1]:GRIPPER Base[0];%{PE}%R 8.3.43,%MKUKATPBASIS,%CSPLINE,%VSLIN_SB,%P 1:SLIN_SB, 2:PICKPOS, 3:, 5:2, 7:CPDAT1, 8:ADAT0
SLIN XPICKPOS WITH $VEL=SVEL_CP( 2, , LCPDAT1), $TOOL=STOOL2( FPICKPOS), $BASE= SBASE( FPICKPOS.BASE_NO),$IPO_MODE=SIPO_MODE( FPICKPOS.IPO_FRAME), $LOAD=SLOAD( FPICKPOS.TOOL_NO), $ACC=SACC_CP( LCPDAT1), $ORI_TYPE=SORI_TYP( LCPDAT1), $JERK=SJERK( LCPDAT1)
;ENDFOLD
GRIP_CLOSE_REQ=TRUE
WAIT SEC 0
;FOLD WAIT FOR ( IN 22 'GRIP_CLSD' );%{PE}%R 8.3.43,%MKUKATPBASIS,%CEXT_WAIT_FOR,%VEXT_WAIT_FOR,%P 2:, 4:, 5:$IN, 6:22, 7:GRIP_CLSD, 9:
WAIT FOR ( $IN[22] )
;ENDFOLD
GRIP_CLOSE_REQ=FALSE
;FOLD SLIN POSTPICK Vel=2 m/s CPDAT2 ADAT0 Tool[2]:GRIPPER LIGHT Base[0];%{PE}%R 8.3.43,%MKUKATPBASIS,%CSPLINE,%VSLIN_SB,%P 1:SLIN_SB, 2:POSTPICK, 3:, 5:2, 7:CPDAT2, 8:ADAT0
SLIN XPOSTPICK WITH $VEL=SVEL_CP( 2, , LCPDAT2), $TOOL=STOOL2( FPOSTPICK), $BASE= SBASE( FPOSTPICK.BASE_NO),$IPO_MODE=SIPO_MODE( FPOSTPICK.IPO_FRAME), $LOAD=SLOAD( FPOSTPICK.TOOL_NO), $ACC=SACC_CP( LCPDAT2), $ORI_TYPE=SORI_TYP( LCPDAT2), $JERK=SJERK( LCPDAT2)
;ENDFOLD
What am I missing? Any suggestions, tips appreciated