3 robots on thesame 7 axis

    HAllo guys i have an urgent issue am fighting with

    IM working with 3 krc4 robots on thesame 7 axis
    the Problem is the middle Robot doesnt have a safe home
    But im planning on sending an Output Signal to the sps anytime the Robot is in a central Position that is not safe so that the sps knows where the Robot is and will not send the other robots to the middle robots Position

    i tried making a logic on the sps Sub to Keep track of the 7 axis but ist just not working what im i doing wrong here

    IF ($POS_ACT.E1==-1600) THEN
    $OUT[230]=TRUE
    ELSE
    $OUT[230]=FALSE
    ENDIF

    are you receiving any data from $POS_ACT.E1?
    if you are getting something, then I would recommend to use ranges instead of fixed single value. as you maybe aware robot wouldn't never reach 1600.00 it will be ±0.02(depends on ...)
    So try to make range like:

    Code
    IF (($POS_ACT.E1>-1601.00) and ($POS_ACT.E1 < -1599.00)) THEN
$OUT[230]=TRUE
ELSE
$OUT[230]=FALSE
ENDIF

    Upd: Again, ... play with range.

    And use $Axis_act instead of $pos_act. $pos_act sometimes has no value (after program reset, power up ...)

    Edit: Or You can use axworkspaces to set a specific signal. That should be the better solution, because that signal is handled by the system.

    Edited once, last by hermann (November 14, 2017 at 9:11 PM).

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