Monitoring Input on Fanuc Robots as its moving

    Hi, i'm wanting to monitor inputs as the robot is moving, kind of like ABB using interrupts. So as the robot is moving towards an object it always monitors the input for part present. From what I been reading you can do a Monitor/Monitor End, I'm just not sure how to use it. Do I need to create a program .ch? or how would I monitor just one single DI ?


    Thanks

    Yerald

    Firstly you need to make TP program with condition choice,
    - please change the Sub Type of the program to cond.

    - make a program inside it, usually the program logic is "When"

    - Make a Logic program... "When DI [1] On Call program STOP"

    - this program "STOP" must have Macro as the sub type so the Monitoring program will running correctly.

    - Place the Monitor and Monitor End in the program line as you wish.


    i hope it can help.

    Hello diey and everyone that would see this post,


    I am currently in a situation where I have to monitor a DI inside a program with a bunch of linear motion.

    I need to stop these motion if DI goes high.

    I dont want SkipCond because i have like 100 line motion (1 skip/ motion line)

    I try Monitor but it wont accept motion inside of the program called after "When"


    I found this post that does somewhat what Im looking for:


    Post
    Re: help with fanuc
    […]




    that's what I want to do, how can I do to keep monitoring this signal constantly?


    that signal can occur at any time, I would need some instruction that is monitoring that signal all the time
    jonatan


    Is there a way to do what I intend keeping with the Monitor instruction ? Or the only way around is with the CSTOP and then restart the program and watch for the flag ?


    thanks

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