Recovering from a shock sensor alarm in PLAY mode

  • I have an MH12 robot on a FS100 controller. I am trying to use a gripper to pick parts and would like to use the shock setting as a sensor to help me stop an IMOV motion.


    I have configured the shock sensitivity settings and call it with the SHCKSET command in the job. This is working as expected. My question is how do I capture the


    ALARM 4315
    COLLISION DETECT


    alarm and set a bit so that I can use it with an IMOV.

  • AD
  • Ouch. Oh, what fun. Rough idea here. In the ladder write a rung with at least NO contacts with the address of the Specific Output for PLAY (50054) and for a minor alarm, I believe 50011. Have that go to a WXOR. Use a source of a constant of 4315 and a source of a register (I believe M640) that is the alarm number, the destination is then an unused M-register. If Alarm 4315 occurs the destination M-register should be 0.


    You could then duplicate this rung but use an ADD instead of a WXOR. Add a constant value, like 1, 2, 4,8,... to the M-register.


    You then could move the value of the M-register into a Relay(Byte) for an address of the universal inputs. I hate to waste an additional 7 inputs for this. But it is a way.


    Somewhere you would want unseal the input. I would probably use an output for that.


    Works in my head. Hopefully, it gets you close enough that you can massage to your liking.

    I know a thing or two, because I’ve seen a thing or two. Don't even ask about a third thing. I won't know it.

    Edited once, last by 95devils ().

Create an account or sign in to comment

You need to be a member in order to leave a comment

Create an account
Sign up for a new account in our community. It's easy!
Register a new account
Sign in
Already have an account? Sign in here.
Sign in Now