XMOVE with OR operator

Hello,

You can use a WHILE loop having that connditions or create a background program.

For the WHILE loop, the robot will go to the final point and the motion it will be intrerupted by the conditions from the while.

cond = 0

LMOVE p1

WHILE cond==0 DO

IF SIG(1001) AND cond ==0 THEN

BRAKE

cond = 1

END

IF SIG(1002) AND cond==0 THEN

BRAKE

cond = 2

END

IF DISTANCE(HERE,DEST)<=5 AND cond==0 THEN

cond = 3

END

END

CASE cond OF

VALUE 1:

TYPE "Robot stopped by 1001 signal"

VALUE 2:

TYPE "Robot stopped by 1002 signal"

VALUE 3:

TYPE "Robot reached the final position"

ANY :

TYPE "State unkown"

HALT

END

And for the backgroup program:

.PROGRAM autostart.pc ()

loop:

IF SIG(1001) OR SIG(1002) THEN

SIGNAL 2001

ELSE

SIGNAL -2001

END

TWAIT 0.1

GOTO loop

Use XMOVE TILL 2001

I know that the XMOVE function had some bugs with the old AS version, make sure to have the lastest version from AS and SV. And also make sure to have a watchdog for the background program, If it is in stopped mode, the robot might collide or do other silly thing.

Welcome to the forum...………

I have never tried using multiple signals, so cannot be sure if it will accept the syntax or not.

However, I am pretty sure you can only detect on single signal as there are positive/trailing edge detection modes and also /ERR and /LVL options associated with the command. and these would not be possible across more than one signal.

In which case, a background task to provide the detection signal would be an alternative.

- but the background task must be running prior to the XMOVE instruction

Before the XMOVE function you can check if the autostart is still running:

IF TASK(1003)<>1 THEN

PCABORT 3:

PCEXECUTE 3:

END

This code will check if the autostart3 is not running, it will execute again. If you have a different program name, you can put the name into after the pcexecute 3: program_name.

Hello,

According to the changelog from the AS updates, a bug from XMOVE function has been fixed in ASE_010300X54 version.

Also in the latest version, a bug from ABS.SPEED has been fixed.

I attached the history file with the changelog from the AS updates E-Controller.

Some interesting fixes in there...…..Many thanks for sharing...………