Hello again.
I'm facing a problem and I'd like to ask you for help.
I have Arc Mate 100iD 30iB Plus with external rotary 7th Axis (group2), that is a operator table. Process is pretty simple, operator loads parts on the table, confirm safety, robots turns the table to work position (90deg turn) and welds, pick up the part and table rotates back to operator.
So form safety point of view from what I found on forum (maybe you have better ideas):
I can use DCS to "lock" the table using JSC set to 0mm/sec with disabling input (https://www.robot-forum.com/robotforum/fan…54981/#msg54981)
But I'd like to rotate external axis while group 1 is moving eg. move to drop to conveyor.
I found a topic but this solution doesn't work for me or I'm doing something wrong.
https://www.robot-forum.com/robotforum/fan…65406/#msg65406
QuoteDisplay MoreI don't know if this will help you or not. I don't think you can do what you want the way you describe it.
Here is a program that will move a second motion group while the robot is executing another program.
You will have to RUN it from your main program.
1: LBL[1] ;
2: IF DI[40]=ON,JMP LBL[2] ;
3: IF DI[41]=ON,JMP LBL[3] ;
4: JMP LBL[1] ;
5: LBL[2] ;
6: R[90]=10 ;
7: JMP LBL[4] ;
8: LBL[3] ;
9: R[90]=(-10) ;
10: LBL[4] ;
11: PR[GP2:90,1:Group2move]=PR[GP2:90,1:Group2move]+R[90] ;
12:J PR[90:Group2move] 100% FINE ;
13: JMP LBL[1] ;
Maybe at least it will give you ideas
or
QuoteDisplay MoreSlewis,
I have been doing this for years. You can use DI(s) to trigger a macro program which will move group 2/3 while the other group is running for production. Stop moving when the DI is off. Here is an example, I use DI 9/10 to jog one group in two directions. Just make sure you mask out the right group(s) in you tp program header for both production and group jogging.
1: OVERRIDE=100% ;
2: IF DI[9:Tooling A Jog Out]=ON,JMP LBL[1] ;
3: IF DI[10:Tooling A Jog In]=ON,JMP LBL[2] ;
4: JMP LBL[3] ;
5: ;
6: LBL[1] ;
7: SKIP CONDITION DI[9:Tooling A Jog Out]=OFF ;
8:J P[1:PLUS MAX POSITIN] 25% FINE Skip,LBL[3] ;
9: ;
10: LBL[2] ;
11: SKIP CONDITION DI[10:Tooling A Jog In]=OFF ;
12:J P[2:MINUS MAX POSITN] 25% FINE Skip,LBL[3] ;
13: ;
14: LBL[3] ;
So if I'll try to run those programs with RUN command, I'm getting error on TP (INTP-267 -RUN smtm failed, Already locked by other task)
Any suggestions ?