Linking a Staubli robot position to an output

  • 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!

  • AD
  • 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:

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