TC_ONLINE INSTRUCCION

All

How you doing?,

I´m looking for info about TC_Online instrucción; I´ve been used this instruccion before but I´d like get the real info from Fanuc Manual I had try search in manual but I didn´t success

Regards!

HawkME,

I´d like to know If can I interrupt a movement when PLC sends a DI?; If robot doesn´t catch that signal I want to stop it as an usually works TC_ONLINE.

I tried to do it with skip instruction but the robot pauses for a moment and it keeping running, robot never catch the signal to stop.

I did this

94: !~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ;

95: !Conveyor_1_Perch ;

96: LBL[1] ;

97: R[1:R1 DESTINATION]=10144.7 ;

98: WAIT 1.00(sec) ;

99: WAIT DI[8:OK TO MOVE]=ON ;

100: ;

101: ;

102: SKIP CONDITION DI[9:Transfer Home]=ON ;

103: ;

104:L P[10] 3000mm/sec CNT25 Skip,LBL[810] ;

105: ;

106: JMP LBL[700] ;

107: ;

108: LBL[810] ;

109: CALL ROBOT_HOME ;

110: ;

111: WAIT DI[8:OK TO MOVE]=ON TIMEOUT,LBL[15] ;

112: ;

113: LBL[700] ;

114: ;

115: !Vision Perch ;

116: IF (DI[1:PICK A] AND R[16:STATIC PICK A]<9),JMP LBL[33] ;

117: !OR ;

118: IF (DI[2:PICK B] AND R[18:STATIC PICK B]<9),JMP LBL[33] ;

119: ;

120:J P[11] 85% FINE ;

but the robot is going jumping directly to LBL[700] and never go home the robot just stop for 0.5 sec and keeping running never CALL Robot_home.(T2 mode)

If I got simulate DI9 signal that robot CALL Robot_home (T1 Mode)

I just want interrup a movement with a DI and CALL Robot_home (program with movements)

I don´t want to use a Kind of searching rutine with several positions asking for that DI.

regards!