Dear all!
I am programming for robot Kawasaki BX200L with E22 controller. I use to spot welding, I use type signal OX and WX to set input, output and interlock signal, But someone said I should use the SWAIT signal, it's more optimal. But i dont know about SWAIT, if someone has ever programmed with this type, please help me!
Type signal WX,OX and SWAIT
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phanthanhviet -
January 1, 2018 at 4:53 AM -
Thread is marked as Resolved.
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Fundamentally you are looking at 2 different programming formats.
BLOCK Program steps are executed as 1 instruction.
- Non motion instructions are usually executed (as default) at the end of the motion/accuracy set.
- They can be changed to be executed at the start of execution
- See OX.PREOUT and PREFETCH.SIGINS System Switch settings......these change the order of processing.
- This is the only flexibility for IO when using BLOCK, there is no other alternative except using Clamp Conditions or NOP instructions.....but still, very rigid in terms of use.Your 2nd example is a format that is becoming more common in spot welding to 'squeeze faster c/t's' out of the application - mixing BLOCK (motion/positioning) and AS (logic/IO control).
- Just using BLOCK on it's own, when commissioned properly......has no real optimization available.
- By mixing AS and using AS purely for logic control/IO sequencing.....allows you to maintain a BLOCK Motion step........and allow flexibility with the non motion steps in between.SWAIT is an AS Command dedicated to wait for signal conditions (inputs, outputs, internal signals in either on/off states).
- Prevents forward processing.
- Allows to wait for multiple signals included, signal states and variable usage.SIGNAL is an AS Command dedicated to control outputs/internal signals.
- Has no impact on forward processing (except for cpu clock processing time).
- Allows for multiple signals included, signal states and variable usage.So by splitting the program into:
1. BLOCK Step just for positioning - easy to maintain/teach without impacting on cycle time - no retraining of staff/maintenance/procedures.
2. AS for logic/IO control - easy to adjust without affecting motion paths - allowing easier/faster optimizing/commissioning and compliance adjusting to environmental changes.BLOCK is simple, not as flexible and easy to maintain/adjust without complex training.
AS is language based, more flexible (commands available) but requires specific training to learn/implement and maintain. -
Thank you kwakisaki san!
If I programmed in 2 way (mixing BLOCK and AS ) then the cycle time is reduced? and where does it fall? -
I couldn't be exact how/where the reduced cycle time occurs, but looking at what is contained on a BLOCK step makes it feasible to me how you can reduce cycle time......as for me to explain, it would purely be speculative but here's my 2 nts worth (right or wrong).
If you look at the functionality of a BLOCK step, there are multiple parameters contained on that BLOCK step.
- So it could be fair to say, when you break a BLOCK step down.......they are in fact multiple steps being processed/executed (motion and non motion).....but represented by a single step.
- ALL parameters on a BLOCK step are executed (you cannot omit any parameters).
- Therefore they all have to processed, irrespective if they have null values.......which would ALWAYS require a set minimum processing time......due to the amount of parameters that are ALWAYS on a BLOCK step.
- In BLOCK you cannot reduce the amount of parameters to process......so it's very rigid.If you look at the functionality of an AS command, you can reduce the amount of parameters to process per step and you only need to program what you want it to do on that step.....nothing extra.
- There are less parameters contained on each step.The advantages that I have seen by adopting BLOCK and AS is:
- Decreased cycle time (accumulatively over the complete program cycle - not step by step).
- Increased flexible synchronisation with external peripherals - allowing the external peripherals to operate earlier/faster.
- Using a BLOCK step purely as the motion component - no need to retrain line operators if locations require adjustment.
- Command Line formatting is more popular/common and can be programmed offline - BLOCK requires using KROSET really for offline programming.
- Additional products can be implemented easier as the structure is already written - line operators just need to Teach the new locations.
- More flexibility using variables, which allows for changes to be made during running conditions without the need of stop/start.These are just my 2 cents worth.....hope it helps.....