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Linking a Staubli robot position to an output

  • JamborT
  • September 5, 2019 at 3:17 PM
  • Thread is Unresolved
  • JamborT
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    • September 5, 2019 at 3:17 PM
    • #1

    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
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    • September 6, 2019 at 5:06 AM
    • #2

    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<750 or (l_trHere.x<350 and l_jHereRevol.j1>-30)
        //ZONE 1
        if l_trHere.x>300 and l_trHere.y<-200
          //Robot outside Zone 1
          //doInZone1=false
        else
          //doInZone1=true
        endIf
    Display More

    TygerDawg

    Blue Technik

    http://www.bluetechnik.com

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Thread Tag Cloud

  • abb
  • Backup
  • calibration
  • Communication
  • CRX
  • DCS
  • dx100
  • dx200
  • error
  • Ethernet
  • Ethernet IP
  • external axis
  • Fanuc
  • help
  • hmi
  • I/O
  • irc5
  • IRVIsion
  • karel
  • kawasaki
  • KRC2
  • KRC4
  • KRC 4
  • KRL
  • KUKA
  • motoman
  • Offset
  • PLC
  • PROFINET
  • Program
  • Programming
  • RAPID
  • robodk
  • roboguide
  • robot
  • robotstudio
  • RSI
  • safety
  • Siemens
  • simulation
  • SPEED
  • staubli
  • tcp
  • TCP/IP
  • teach pendant
  • vision
  • Welding
  • workvisual
  • yaskawa
  • YRC1000

Tags

  • robot
  • staubli
  • output
  • position
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