Linking a Staubli robot position to an output

JamborT · Sep 5th 2019

Hello All,

I am currently working with a TX200 robot and a CS8C HP controller. I was wondering if there is a way to link a position to an EtherCat output. For example if i teach a position named home, and I want to send out a signal to my PLC when the robot is in that position, how would I do that? Kuka has a standard InHome signal, I'm trying to make something similar. Any ideas?

Thanks!

TygerDawg · Sep 6th 2019

I don't recall that there is any "standard signal" for this or other functions of this nature.

I would create and execute a secondary task that would constantly monitor if the TCP is within a tolerance to the desired location. Then enable an output when it is.

Something similar to this snippet that I found in my archives:

Code

//--------------
    //  CHECK ZONES
    //--------------
    //here() returns the current position of tToolAdj tool in world frame.
    l_pHereCart=here(tToolAdj,world)
    l_trHere=l_pHereCart.trsf
    // You can uncomment this selections if you want to monitor
    // joint position.
    //Return the current arm joint position.
    //l_jHereRevol=herej()
    //Test zones example :
    //if l_trHere.x&lt;750 or (l_trHere.x&lt;350 and l_jHereRevol.j1&gt;-30)
    //ZONE 1
    if l_trHere.x&gt;300 and l_trHere.y&lt;-200
      //Robot outside Zone 1
      //doInZone1=false
    else
      //doInZone1=true
    endIf

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Linking a Staubli robot position to an output

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